Route planning method, device, medium, equipment and vehicle for reversing along a track

Abstract

The application discloses a route planning method and device for tracking reverse driving, a medium, equipment and a vehicle. The method comprises the following steps: acquiring an actual driving track point before tracking reverse driving; acquiring a history track record before tracking reverse driving according to the actual driving track point, the history track record comprising a first history forward track and a second history forward track; sampling the first history forward track and the second history forward track to obtain a first sampling point and a second sampling point; when a third sampling point and a fourth sampling point exist in the horizontal coordinate range of the first sampling point and the second sampling point, generating an intermediate curve segment by interpolating the four sampling points as interpolation points, and sampling the intermediate curve segment to obtain an intermediate curve segment track; and generating a target tracking reverse driving planning route according to a first tracking reverse driving planning route with the starting point of the first history forward track and the first sampling point as end points, the intermediate curve segment track, and a second tracking reverse driving planning route with the second sampling point and the ending point of the second history forward track as end points.

Description

Technical Field

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

[0002] Reverse tracking refers to a vehicle reversing along the same route it has just traveled, without needing to control the steering wheel during the reversing process. When entering narrow roads or other complex environments, reversing along the original route requires a high level of driving skill. The reverse tracking function records the driving trajectory and uses the vehicle's computer memory to automatically reverse the vehicle, greatly reducing the difficulty of reversing.

[0003] However, when the historical driving trajectory is complex and lengthy, this reversing trajectory that returns to the original path will also be relatively complex and lengthy. For example, in a scenario where you shift from D to R and then back to D, you first drive forward, then deviate from the original route to reverse, and finally drive forward on the new route. If an automatic reversing trajectory that returns to the original path is used, it will be a complex and lengthy three-stage process, resulting in low reversing efficiency. Summary of the Invention

[0004] This application provides a method, device, medium, equipment, and vehicle for reversing along a track, which can solve the problem that when the historical driving trajectory is complex and lengthy, the reversing trajectory along the original route will also be relatively complex and lengthy, resulting in low reversing efficiency.

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a route planning method for reversing along a track, the method comprising:

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

[0008] Based on the actual driving trajectory points, the historical trajectory record before reversing is obtained, wherein the historical trajectory record includes a first historical forward trajectory and a second historical forward trajectory, the line connecting the end point of the first historical forward trajectory and the start point of the second historical forward trajectory constitutes 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.

[0009] The first historical forward trajectory and the second historical forward trajectory are sampled 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;

[0010] In a case that there are third sampling points and fourth sampling points within a horizontal coordinate 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 taken as interpolation points for interpolation calculation, an intermediate curve segment passing through the interpolation points is generated, and the intermediate curve segment is sampled according to a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points.

[0011] According to a first trace-back planning route with the starting point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and a second trace-back planning route with the second sampling point and the ending point of the second historical forward trajectory as end points, a target trace-back planning route is generated.

[0012] According to the above scheme, the actual driving trajectory points before trace-back can be obtained first, the historical trajectory record including the first historical forward trajectory and the second historical forward trajectory is obtained according to the actual driving trajectory points, the included angle between the first historical forward trajectory and the intermediate reference line (i.e. the line connecting the ending point of the first historical forward trajectory and the starting point of the second historical forward trajectory) is greater than or equal to the included angle threshold, the first historical forward trajectory and the second historical forward trajectory are sampled respectively to obtain the first sampling point and the second sampling point, the first sampling point, the second sampling point and the third sampling point and the fourth sampling point within the horizontal coordinate range of the first sampling point and the second sampling point are taken as interpolation points for interpolation calculation, the intermediate curve segment passing through the interpolation points is generated, the intermediate curve segment is sampled to obtain the intermediate curve segment trajectory, and finally the target trace-back planning route is generated according to the first trace-back planning route with the starting point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and the second trace-back planning route with the second sampling point and the ending point of the second historical forward trajectory as end points. Compared with the trace-back route returning to the original route, the distance of the target trace-back planning route generated by the embodiments of the present application is greatly reduced and the transition of the intermediate route is very smooth, so that the efficiency of trace-back can be improved and the comfort of the driver and passengers can be improved.

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

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

[0015] It can be learned from the above scheme that, in the embodiment of the application, the first historical forward trajectory and the second historical forward trajectory are sampled only after the adjacent trajectory points in the historical trajectory record with a distance greater than or equal to the first distance threshold are processed by encryption, which not only can provide more alternative sampling points and increase the possibility of finding an interpolation point, but also can make the interpolation range closer to the inflection points of the recorded trajectory (i.e., the two end points of the intermediate reference line).

[0016] In a second possible implementation of the first aspect, the target tracing reverse planning route is generated according to a first tracing reverse planning route with the start point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and a second tracing reverse planning route with the second sampling point and the end point of the second historical forward trajectory as end points.

[0017] The first tracing reverse planning route and the second tracing reverse planning route are sampled to obtain a fifth sampling point located on the first tracing reverse planning route and a sixth sampling point located on the second tracing reverse planning route.

[0018] The trajectory in the first tracing reverse planning route with the fifth sampling point and the first sampling point as end points is determined as a first target trajectory, and the trajectory in the second tracing reverse planning route with the second sampling point and the sixth sampling point as end points is determined as a second target trajectory.

[0019] The trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory is discretely smoothed with a curvature threshold as a limit to obtain an optimized intermediate curve segment trajectory.

[0020] The target tracing reverse planning route is generated according to a third tracing reverse planning route with the start point of the first tracing reverse planning route and the fifth sampling point as end points, the optimized intermediate curve segment trajectory, and a fourth tracing reverse planning route with the sixth sampling point and the end point of the second tracing reverse planning route as end points.

[0021] It can be learned from the above scheme that, in the embodiment of the application, the intermediate curve segment trajectory obtained by interpolation is optimized, and a more smooth intermediate curve segment trajectory with a curvature less than the curvature threshold can be obtained, so that the vehicle can drive without being unable to reach the curvature of the intermediate curve segment trajectory during the tracing reverse process according to the target tracing reverse planning route, and the feasibility of the target tracing reverse planning route is improved.

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

[0023] In a case where the third sampling point and / or the fourth sampling point does not exist in a horizontal coordinate range of the first sampling point and the second sampling point, returning to performing the 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 of the first aspect, the obtaining, according to the actual travel trajectory point, of the historical trajectory record before the tracing reverse driving comprises:

[0025] The first historical forward trajectory is recorded according to a preset trajectory recording interval, and the first historical forward trajectory comprises a plurality of actual travel trajectory points;

[0026] From the start of the reverse driving of the vehicle, it is determined whether a target included angle is greater than or equal to the included angle threshold, wherein the target included angle is an included angle between a line connecting a terminal point of the first historical forward trajectory and a currently located actual travel trajectory point and the first historical forward trajectory;

[0027] When the target included angle is less than the included angle threshold, the currently located actual travel trajectory point is discarded until the target included angle is greater than or equal to the included angle threshold, and it is determined whether a distance between the terminal point of the first historical forward trajectory and the currently located actual travel trajectory point is greater than or equal to a second distance threshold;

[0028] When the distance between the terminal point of the first historical forward trajectory and the currently located actual travel trajectory point is less than the second distance threshold, the currently located actual travel trajectory point is discarded until the distance is greater than or equal to the second distance threshold, the currently located actual travel trajectory point is recorded, and when it is determined that the vehicle is currently in a forward driving state, the recorded currently located actual travel trajectory point is determined as a starting point of the second historical forward trajectory;

[0029] From the starting point of the second historical forward trajectory, a currently located actual travel trajectory point is recorded according to the preset trajectory recording interval until a tracing reverse driving instruction is received, and the second historical forward trajectory is recorded.

[0030] It can be known from the above scheme that, in the process of manually driving a vehicle, the trajectory points required are recorded while being located, and the trajectory points that do not meet the requirements in terms of included angle and distance are discarded, so that the storage amount of the historical trajectory can be reduced, and the storage space can be saved.

[0031] In a fifth possible implementation of the first aspect, the obtaining, according to the actual travel trajectory point, of the historical trajectory record before the tracing reverse driving comprises:

[0032] acquire an actual history track before track reversing, wherein the actual history track comprises a complete actual driving track between a starting point and an ending point of track reversing, the actual history track comprises a first actual forward track, an actual reverse track and a second actual forward track, and the first actual forward track, the actual reverse track and the second actual forward track respectively comprise a plurality of actual driving track points;

[0033] sample the second actual forward track to obtain a seventh sampling point;

[0034] when an included angle between a line connecting the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is less than the included angle threshold, return to perform the sampling of the second actual forward track to obtain the seventh sampling point until when the included angle between the line connecting the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is greater than or equal to the included angle threshold, take a track point between the seventh sampling point and the ending point of the second actual forward track as the second history forward track, and take the first actual forward track as the first history forward track.

[0035] It can be known from the above scheme that the embodiment of the present application can obtain the history track record required for track reversing route planning by preprocessing the actual history track under the condition of saving the actual history track, so that not only the history track record can be obtained, but also the actual history track can be applied to other scenarios.

[0036] In a second aspect, the embodiment of the present application provides a route planning device for track reversing, the device comprising:

[0037] a first acquisition unit configured to acquire an actual driving track point before track reversing;

[0038] a second acquisition unit configured to acquire a history track record before track reversing according to the actual driving track point, wherein the history track record comprises a first history forward track and a second history forward track, a line connecting an ending point of the first history forward track and a starting point of the second history forward track constitutes an intermediate reference line, and an included angle between the first history forward track and the intermediate reference line is greater than or equal to an included angle threshold;

[0039] a first sampling unit configured to sample the first history forward track and the second history forward track to obtain a first sampling point located on the first history forward track and a second sampling point located on the second history forward track;

[0040] an interpolation unit, configured to, in a case that third sampling points and fourth sampling points exist within a horizontal coordinate range of the first sampling point and the second sampling point, perform interpolation calculation on 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;

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

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

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

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

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

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

[0047] a first determining module, configured to determine a trajectory with the fifth sampling point and the first sampling point as end points in the first trace reverse planning route as a first target trajectory, and determine a trajectory with the second sampling point and the sixth sampling point as end points in the second trace reverse planning route as a second target trajectory;

[0048] an optimization processing module, configured to perform discrete point smoothing on a 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;

[0049] The generating module is configured to generate the target reverse tracking route according to a third reverse tracking route with a starting point of the first reverse tracking route and an ending point of the fifth sampling point, the optimized intermediate curve segment trajectory, and a fourth reverse tracking route with an ending point of the second reverse tracking route and the sixth sampling point.

[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 to obtain a first sampling point on the first historical forward trajectory and a second sampling point on the second historical forward trajectory, in a case where the third sampling point and / or the fourth sampling point do not exist in a horizontal coordinate range of the first sampling point and the second sampling point.

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

[0052] The recording module is configured to record the first historical forward trajectory at a preset trajectory recording interval, where the first historical forward trajectory comprises a plurality of actual driving trajectory points.

[0053] The determining module is configured to determine, from a start of reverse driving of the vehicle, whether a target included angle is greater than or equal to an included angle threshold, where the target included angle is an included angle between a line connecting an ending point of the first historical forward trajectory and a currently located actual driving trajectory point and the first historical forward trajectory.

[0054] The discarding module is configured to discard the currently located actual driving trajectory point when the target included angle is less than the included angle threshold.

[0055] The determining module is further configured to determine, until the target included angle is greater than or equal to the included angle threshold, whether a distance between the ending point of the first historical forward trajectory and the currently located actual driving trajectory point is greater than or equal to a second distance threshold.

[0056] The discarding module is further configured to discard the currently located actual driving trajectory point when the distance between the ending point of the first historical forward trajectory and the currently located actual driving trajectory point is less than the second distance threshold.

[0057] The recording module is further configured to record the currently located actual driving trajectory point until the distance is greater than or equal to the second distance threshold.

[0058] The second determining module is configured to determine, when it is determined that the vehicle is currently in a forward state, that the recorded currently located actual driving trajectory point is a starting point of the second historical forward trajectory.

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

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

[0061] The obtaining module is configured to obtain an actual historical track before loop track reversing, wherein the actual historical track comprises a complete actual driving track between a starting point and an ending point of loop track reversing, the actual historical track comprises a first actual forward track, an actual reverse track and a second actual forward track, and the first actual forward track, the actual reverse track and the second actual forward track each comprise a plurality of actual driving track points.

[0062] The second sampling module is configured to sample the second actual forward track to obtain a seventh sampling point, and when an included angle between a line formed by the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is less than the included angle threshold, return to perform sampling of the second actual forward track to obtain the seventh sampling point.

[0063] The second determining module is configured to, until the included angle between the line formed by the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is greater than or equal to the included angle threshold, take a track point between the seventh sampling point and the ending point of the second actual forward track as the second historical forward track, and take the first actual forward track as the first historical forward track.

[0064] According to the above scheme, the embodiment of the present application can first acquire the actual driving track point before the track-reversing, and acquire the historical track record including the first historical forward track and the second historical forward track according to the actual driving track point, and the included angle between the first historical forward track and the intermediate reference line (i.e. the connecting line of the end point of the first historical forward track and the start point of the second historical forward track) is greater than or equal to the included angle threshold, and the first historical forward track and the second historical forward track are respectively sampled to obtain the first sampling point and the second sampling point, then the first sampling point, the second sampling point, and the third sampling point and the fourth sampling point existing in the horizontal coordinate range of the first sampling point and the second sampling point are taken as the interpolation points for interpolation calculation to generate the intermediate curve segment passing through the interpolation points, and the intermediate curve segment is sampled to obtain the intermediate curve segment track, and finally the target track-reversing planning route is generated according to the first track-reversing planning route with the start point of the first historical forward track and the first sampling point as the end points, the intermediate curve segment track, and the second track-reversing planning route with the second sampling point and the end point of the second historical forward track as the end points. Compared with the track-reversing route returning to the original route, the distance of the target track-reversing planning route generated by the embodiment of the present application is greatly reduced and the transition of the intermediate route segment is very smooth, so not only the efficiency of the track-reversing can be improved, but also the comfort of the driver and the passenger can be improved.

[0065] In a third aspect, an embodiment of the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the method according to any possible implementation of the first aspect.

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

[0067] one or more processors;

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

[0069] when the one or more programs are executed by the one or more processors, the electronic device implements the method according to any possible implementation of the first aspect.

[0070] In a fifth aspect, an embodiment of the present application provides a vehicle, which comprises the apparatus according to any possible implementation of the second aspect, or comprises the electronic device according to the fourth aspect.

[0071] In a sixth aspect, an embodiment of the present application provides a computer program product, which comprises instructions, and when the instructions are run on a computer or a processor, the computer or the processor executes the method according to any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application. For those skilled in the art, other drawings can also be obtained without creative effort based on these drawings.

[0073] Figure 1 A flowchart of a route planning method for tracking reverse provided by an embodiment of the present application is shown in the figure.

[0074] Figure 2 An example diagram of a route planning method for tracking reverse provided by an embodiment of the present application is shown in the figure.

[0075] Figure 3 A block diagram of a route planning device for tracking reverse provided by an embodiment of the present application is shown in the figure.

[0076] Figure 4 A structural diagram of an electronic device or computer device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application.

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

[0079] In order to simplify the tracking reverse route, an embodiment of the present application provides a route planning method for tracking reverse, which can be applied to an electronic device or 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 in the figure, the method comprises:

[0080] S110: Obtain the actual driving track point before tracking reverse.

[0081] The actual driving track point refers to a positioning point in an actual driving process.

[0082] S120: Obtain a historical track record before the track reversing according to the actual driving track points.

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

[0084] In an embodiment, the method for determining the included angle between the first historical forward track and the intermediate reference line includes but is not limited to the following two methods: (1) an included angle between a line connecting the last N track points in the first historical forward track and the intermediate reference line, N being a positive integer greater than or equal to 2; (2) an included angle between a smooth straight line fitted from the first historical forward track and the intermediate reference line.

[0085] When the embodiment of the present application is applied to a vehicle, the obtained historical track record is a historical track record of the ego vehicle; when the embodiment of the present application is applied to a server, the obtained historical track record is a historical track record of a vehicle requesting a target track reversing planning route to the server.

[0086] The method for obtaining the historical track record before the track reversing according to the actual driving track points includes but is not limited to the following two methods:

[0087] The first method: directly record the historical track record before the track reversing according to the track recording strategy of steps A1-A5.

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

[0089] The first historical forward track includes a plurality of actual driving track points, and the preset track recording interval can be a positioning interval or a fixed interval set in advance, for example, 0.2 m.

[0090] A2: From the start of the track reversing of the vehicle, determine whether a target included angle is greater than or equal to an included angle threshold, wherein the target included angle is an included angle between a line connecting an end point of the first historical forward track and a currently positioned actual driving track point and the first historical forward track.

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

[0092] The second distance threshold value can be the same as the preset trajectory recording interval, or can be different, and when different, the second distance threshold value is usually greater than the preset trajectory recording interval. For example, when the preset trajectory recording interval = 0.2 m, the second distance threshold value can 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 value, the actual driving trajectory point of the current positioning is discarded until the distance is greater than or equal to the second distance threshold value, the actual driving trajectory point of the current positioning is recorded, and when it is determined that the vehicle is currently in a forward state, the recorded actual driving trajectory point of the current positioning is determined as the start point of the second historical forward trajectory.

[0094] From the start of the vehicle reversing, instead of recording each trajectory point, it is first determined 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 value, when the target angle is less than the angle threshold value, the actual driving trajectory point of the current positioning is discarded, until the target angle is greater than or equal to the angle threshold value, it is further determined 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 value, when the distance is less than the second distance threshold value, the actual driving trajectory point of the current positioning is continuously discarded, until the target angle is greater than or equal to the angle threshold value, 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 value, the actual driving trajectory point of the current positioning is recorded.

[0095] A5. From the start point of the second historical forward trajectory, the actual driving trajectory point of the current positioning is recorded according to the preset trajectory recording interval, until the loop reversing instruction is received, and the second historical forward trajectory is recorded.

[0096] From the start point of the second historical forward trajectory, the vehicle drives forward, so the actual driving trajectory point of the current positioning can be continuously recorded according to the preset trajectory recording interval, until the loop reversing instruction is received, the actual driving trajectory point of the current positioning is determined as the end point of the second historical forward trajectory, and thus the second historical forward trajectory is obtained.

[0097] The second method: first store the actual historical trajectory before loop reversing, and then preprocess the actual historical trajectory by the method of steps B1-B3 to obtain the historical trajectory record.

[0098] B1, obtaining an actual historical trajectory before the trace reverse, wherein the actual historical trajectory comprises a complete actual driving trajectory between a starting point and an ending point of the trace reverse, the actual historical trajectory comprises 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 each comprise a plurality of actual driving trajectory points.

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

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

[0101] As shown in Figure 2 The seventh sampling point B' can be obtained by sampling on the BG segment.

[0102] B3, 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 an included angle threshold, returning to sample the second actual forward trajectory to obtain the seventh sampling point until 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 greater than or equal to the included angle threshold, taking the trajectory point between the seventh sampling point and the ending point of the second actual forward trajectory as a second historical forward trajectory, and taking the first actual forward trajectory as a first historical forward trajectory.

[0103] As shown in Figure 2 When the included angle between OA and AB' is less than the included angle threshold (such as 120 degrees), a new B' point can be obtained by resampling on BG until the included angle between the most recently obtained AB' and OA is greater than or equal to the included angle threshold, the sampling is stopped, the most recently obtained B' is determined as the final 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 an intermediate reference line, and OAB'G constitutes a historical trajectory record.

[0104] The first method of recording the required trajectory points while positioning and discarding the trajectory points that do not meet the requirements of the included angle and the distance 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 in other scenarios while obtaining the historical trajectory record.

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

[0106] S130: 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.

[0107] In this embodiment, the first historical forward trajectory and the second historical forward trajectory can be cross-sampled. For two points, cross-sampling refers to fixing one point and moving the second point, i.e., sampling the second point, and after the sampling of the second point is completed, fixing the second point and sampling the first point. Cross-sampling the first historical forward trajectory and the second historical forward trajectory refers to sampling the first historical forward trajectory and the second historical forward trajectory in sequence. As shown in FIG. 1C, the first sampling point obtained by sampling on OA is C, and the second sampling point obtained by sampling on B’G is D. Figure 2

[0108] S140: in the case that there are third sampling points and fourth sampling points in the horizontal coordinate range of the first sampling point and the second sampling point, performing interpolation calculation on the first sampling point, the second sampling point, the third sampling point, and the fourth sampling point as interpolation points, generating an intermediate curve segment passing through the interpolation points, and sampling the intermediate curve segment according to a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points.

[0109] The coordinate system in which each trajectory point in the historical trajectory record is located can be a startup coordinate system, which refers to, when a vehicle is started, a direction pointing to a vehicle head being an x-axis direction, a direction perpendicular to the x-axis and pointing to a left side of the vehicle being a y-axis direction, and a direction pointing to a top of the vehicle being a z-axis direction. In this embodiment, only a two-dimensional coordinate system composed of the x-axis and the y-axis can be used.

[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 is indicated that there are third sampling points and fourth sampling points in the horizontal coordinate range of the first sampling point and the second sampling point, otherwise, it is indicated that there is no third sampling point and / or fourth sampling point in the horizontal coordinate range of the first sampling point and the second sampling point.

[0111] ​In the case that there is no third sampling point and / or fourth sampling point in the horizontal coordinate range of the first sampling point and the second sampling point, the sampling of the first historical forward trajectory and the second historical forward trajectory is performed again 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 that there is no third sampling point and / or fourth sampling point in the horizontal coordinate range of the first sampling point and the second sampling point, the first historical forward trajectory and the second historical forward trajectory are resampled to obtain new first sampling point and new second sampling point, and it is determined whether there is a third sampling point and a fourth sampling point in the horizontal coordinate range of the new first sampling point and the new second sampling point, until the horizontal coordinate range of the latest obtained first sampling point and second sampling point has a third sampling point and a fourth sampling point, and the sampling is stopped.

[0112] The method for generating the intermediate curve segment passing through the interpolation points by interpolating the first sampling point, the second sampling point, the third sampling point and the fourth sampling point includes but is not limited to piecewise cubic Hermite interpolation (PCHIP), cubic spline interpolation, etc.

[0113] After obtaining the continuous intermediate curve segment, the intermediate curve segment can be sampled at a preset sampling interval in the horizontal coordinate range of the first sampling point and the second sampling point to determine the horizontal coordinates of each sampling point, and then the vertical coordinates corresponding to each horizontal coordinate are calculated according to the curve equation of the intermediate curve segment, so as to obtain the horizontal and vertical coordinates of each sampling point. The discrete point set composed of the first sampling point, the second sampling point and the sampling points of the intermediate curve segment is taken as the intermediate curve segment trajectory. The preset sampling interval can be a preset trajectory recording interval, such as 0.2 m.

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

[0115] After obtaining the intermediate curve segment trajectory, the target trace reverse planning route can be directly sequentially spliced from the first trace reverse planning route with the starting point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and the second trace reverse planning route with the second sampling point and the ending point of the second historical forward trajectory as end points. The starting point of the target trace reverse planning route is the ending point of the second historical forward trajectory, and the ending point of the target trace reverse planning route is the starting point of the first historical forward trajectory.

[0116] As Figure 2As shown, the first tracking reverse planning route is OC, the intermediate curve segment trajectory is CD, the second tracking reverse planning route is DG, and the target tracking reverse planning route is GDCO.

[0117] The route planning method for tracking reverse provided by the embodiments of the present application can first acquire actual driving trajectory points before tracking reverse, and acquire a historical trajectory record including a first historical forward trajectory and a second historical forward trajectory according to the actual driving trajectory points, and an included angle between the first historical forward trajectory and an intermediate reference line (i.e. a line connecting an end point of the first historical forward trajectory and a start point of the second historical forward trajectory) is greater than or equal to an included 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, then the first sampling point, the second sampling point, and a third sampling point and a fourth sampling point existing in a horizontal coordinate range of the first sampling point and the second sampling point are taken as interpolation points for interpolation calculation to generate an intermediate curve segment passing through the interpolation points, and the intermediate curve segment is sampled to obtain an intermediate curve segment trajectory, and finally a target tracking reverse planning route is generated according to a first tracking reverse planning route with a start point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and a second tracking reverse planning route with the second sampling point and an end point of the second historical forward trajectory as end points. Compared with the tracking reverse route of the original route, the target tracking reverse planning route generated by the embodiments of the present application is greatly shortened in distance and the transition of the intermediate route segment is very smooth, so not only the efficiency of tracking reverse can be improved, but also the comfort of the driver and passengers can be improved.

[0118] In a possible implementation, when there is a positioning error in vehicle positioning, the recorded trajectory points may be too far apart, and the number of historical trajectory points may be too small, which may result in that a required interpolation point cannot be found subsequently. To solve the technical problem, the embodiments of the present application perform encryption processing on adjacent trajectory points with a distance greater than or equal to a first distance threshold before sampling the first historical forward trajectory and the second historical forward trajectory, to obtain an encrypted historical trajectory record. The encryption processing method includes but is not limited to 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, 0.2 m.

[0119] The embodiments of the present application can provide more alternative sampling points and increase the possibility of finding interpolation points by performing encryption processing on adjacent trajectory points with a distance greater than or equal to the first distance threshold, and the interpolation range is closer to the inflection points (i.e. the two end points of the intermediate reference line) of the recorded trajectory.

[0120] In a possible implementation, the curvature of the intermediate curve segment trajectory obtained through interpolation cannot be guaranteed to be less than or equal to the maximum curvature of the vehicle, and thus there can be a problem that the vehicle cannot travel due to excessively large curvature of the intermediate curve segment trajectory. To solve the technical problem, an embodiment of the present application provides a method for optimizing an intermediate curve segment trajectory:

[0121] The first and second loop tracking reverse planning routes are sampled to obtain a fifth sampling point located on the first loop tracking reverse planning route and a sixth sampling point located on the second loop tracking reverse planning route; a trajectory with the fifth sampling point and the first sampling point as end points in the first loop tracking reverse planning route is determined as a first target trajectory, and a trajectory with the second sampling point and the sixth sampling point as end points in the second loop tracking reverse planning route is determined as a second target trajectory; a discrete point smoothing is performed on a trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory, with the curvature threshold as a limit, to obtain an optimized intermediate curve segment trajectory; and a target loop tracking reverse planning route is generated according to a third loop tracking reverse planning route with a starting point of the first loop tracking reverse planning route and the fifth sampling point as end points, the optimized intermediate curve segment trajectory, and a fourth loop tracking reverse planning route with the sixth sampling point and an ending point of the second loop tracking reverse planning route as end points.

[0122] The curvature threshold can be less than or equal to the maximum curvature of the vehicle. Before the discrete point smoothing is performed 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, a target function and a constraint condition need to be set, and then the discrete point smoothing operation is performed according to the target function and the constraint condition. The target function is 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 condition includes: (1) the optimized coordinate point is optimized within a certain range of original values of the trajectory composed of the first target trajectory, the intermediate curve segment trajectory, and the second target trajectory; and (2) the maximum curvature of the optimized intermediate curve segment trajectory is less than or equal to the curvature threshold.

[0123] The target loop tracking reverse planning route is generated according to the third loop tracking reverse planning route with the starting point of the first loop tracking reverse planning route and the fifth sampling point as end points, the optimized intermediate curve segment trajectory, and the fourth loop tracking reverse planning route with the sixth sampling point and the ending point of the second loop tracking reverse planning route as end points, which includes: determining a route sequentially spliced by the third loop tracking reverse planning route, the optimized intermediate curve segment trajectory, and the fourth loop tracking reverse planning route as the target loop tracking reverse planning route.

[0124] As Figure 2As shown, the fifth sampling point E and the sixth sampling point F can be obtained by continuing sampling between the OC and the DG, the OE is determined as the first target trajectory, the FG is determined as the second target trajectory, the ECDF is smoothed by discrete points with the curvature threshold as the limit, the optimized intermediate curve segment trajectory EF is obtained, and the optimized target tracing reverse planning route is GFEO. 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 noted 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 tracing reverse planning route and the second tracing reverse planning route can be resampled to obtain new fifth sampling points and new sixth sampling points until the discrete point smoothing succeeds.

[0126] The embodiment of the present application can obtain a more smooth intermediate curve segment trajectory with a curvature less than the curvature threshold by optimizing the intermediate curve segment trajectory obtained by interpolation, so that the vehicle can not be unable to drive due to the inability to reach the curvature of the intermediate curve segment trajectory during the tracing reverse process according to the target tracing reverse planning route, thereby improving the feasibility of the target tracing reverse planning route.

[0127] Based on the above method embodiment, as shown, Figure 3 Another embodiment of the present application provides a route planning device for tracing reverse, which comprises:

[0128] A first acquisition unit 210 is configured to acquire actual driving trajectory points before tracing reverse;

[0129] A second acquisition unit 220 is configured to acquire a historical trajectory record before tracing reverse according to the actual driving trajectory points, wherein the historical trajectory record comprises a first historical forward trajectory and a second historical forward trajectory, a line connecting an end point of the first historical forward trajectory and a start point of the second historical forward trajectory constitutes an intermediate reference line, and an included angle between the first historical forward trajectory and the intermediate reference line is greater than or equal to an included angle threshold;

[0130] A 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 on the first historical forward trajectory and a second sampling point on the second historical forward trajectory;

[0131] The interpolation unit 240 is configured to, in the case that the third sampling point and the fourth sampling point exist in the horizontal coordinate range of the first sampling point and the second sampling point, perform interpolation calculation on 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.

[0132] The second sampling unit 250 is configured to sample the intermediate curve segment according to a preset sampling interval to obtain an intermediate curve segment trajectory composed of discrete points.

[0133] The generation unit 260 is configured to generate a target loop-back planning route according to a first loop-back planning route with the starting point of the first historical forward trajectory and the first sampling point as end points, the intermediate curve segment trajectory, and a second loop-back planning route with the second sampling point and the ending point of the second historical forward trajectory as end points.

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

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

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

[0137] The first sampling module is configured to sample the first loop-back planning route and the second loop-back planning route to obtain a fifth sampling point on the first loop-back planning route and a sixth sampling point on the second loop-back planning route.

[0138] The first determination module is configured to determine a trajectory with the fifth sampling point and the first sampling point as end points in the first loop-back planning route as a first target trajectory, and determine a trajectory with the second sampling point and the sixth sampling point as end points in the second loop-back planning route as a second target trajectory.

[0139] The optimization processing module is 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] The generating module is configured to generate the target reverse tracking route according to a third reverse tracking route with a starting point of the first reverse tracking route and an ending point of the fifth sampling point, the optimized intermediate curve segment trajectory, and a fourth reverse tracking route with an ending point of the second reverse tracking route and the sixth sampling point.

[0141] In a possible implementation, the first sampling unit 230 is further configured to resample 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, in a case where the third sampling point and / or the fourth sampling point does not exist in a horizontal coordinate range of the first sampling point and the second sampling point.

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

[0143] The recording module is configured to record the first historical forward trajectory according to a preset trajectory recording interval, where the first historical forward trajectory includes a plurality of actual driving trajectory points.

[0144] The determining module is configured to determine, from a start of vehicle reverse driving, whether a target included angle is greater than or equal to an included angle threshold, where the target included angle is an included angle between a line connecting an ending point of the first historical forward trajectory and a currently located actual driving trajectory point and the first historical forward trajectory.

[0145] The discarding module is configured to discard the currently located actual driving trajectory point when the target included angle is less than the included angle threshold.

[0146] The determining module is further configured to determine, until the target included angle is greater than or equal to the included angle threshold, whether a distance between the ending point of the first historical forward trajectory and the currently located actual driving trajectory point is greater than or equal to a second distance threshold.

[0147] The discarding module is further configured to discard the currently located actual driving trajectory point when the distance between the ending point of the first historical forward trajectory and the currently located actual driving trajectory point is less than the second distance threshold.

[0148] The recording module is further configured to record the currently located actual driving trajectory point until the distance is greater than or equal to the second distance threshold.

[0149] The second determining module is configured to determine, when it is determined that the vehicle is currently in a forward driving state, that the recorded currently located actual driving trajectory point is a starting point of the second historical forward trajectory.

[0150] The recording module is further configured to record actual driving track points of the current position according to the preset track recording interval from the starting point of the second historical forward track until a track reversing instruction is received, and record the second historical forward track.

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

[0152] The obtaining module is configured to obtain an actual historical track before track reversing, wherein the actual historical track comprises a complete actual driving track between a starting point and an ending point of track reversing, the actual historical track comprises a first actual forward track, an actual reversing track and a second actual forward track, and the first actual forward track, the actual reversing track and the second actual forward track each comprise a plurality of actual driving track points.

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

[0154] The second determining module is configured to take a track point between the seventh sampling point and the ending point of the second actual forward track as the second historical forward track and take the first actual forward track as the first historical forward track until the included angle between the line connecting the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is greater than or equal to the included angle threshold.

[0155] The route planning device for track following reverse provided by the embodiment of the present application can first acquire actual driving track points before track following reverse, and acquire historical track records including a first historical forward track and a second historical forward track according to the actual driving track points, and an included angle between the first historical forward track and an intermediate reference line (i.e. a line connecting an end point of the first historical forward track and a start point of the second historical forward track) is greater than or equal to an included angle threshold, and the first historical forward track and the second historical forward track are sampled respectively to obtain a first sampling point and a second sampling point, then the first sampling point, the second sampling point, and third and fourth sampling points existing in a horizontal coordinate range of the first sampling point and the second sampling point are taken as interpolation points for interpolation calculation to generate an intermediate curve segment passing through the interpolation points, and the intermediate curve segment is sampled to obtain an intermediate curve segment track, and finally a target track following reverse planning route is generated according to a first track following reverse planning route with a start point of the first historical forward track and the first sampling point as end points, the intermediate curve segment track, and a second track following reverse planning route with the second sampling point and an end point of the second historical forward track as end points. Compared with the track following reverse route of returning to the original route, the target track following reverse planning route generated by the embodiment of the present application is greatly shortened in route and the transition of the intermediate route segment is very smooth, so that the efficiency of track following reverse can be improved, and the comfort of the driver and passengers can be improved.

[0156] Based on the above method embodiments, another embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method according to any one 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 shown in the figure, comprising: Figure 4

[0158] one or more processors 310;

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

[0160] 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 according to any one of the above embodiments.

[0161] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which comprises the device according to any one of the above embodiments, or comprises the electronic device as described above.

[0162] ​The vehicle comprises a CPU (Central Processing Unit), a T-Box (Telematics Box), a GPS (Global Positioning System), and the like. 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 track point), the CPU can obtain the target track-reversing planning route by performing the track-reversing route planning method provided in any of the above embodiments. The CPU can also upload the vehicle position located by the GPS (i.e., the actual driving track point) to a server through the T-Box, and the server can obtain the target track-reversing planning route by performing the track-reversing route planning method provided in any of the above embodiments, and then distribute the obtained target track-reversing planning route to the T-Box, so that the T-Box transmits the target track-reversing planning route to the relevant device in the vehicle for track-reversing.

[0163] Based on the above embodiments, another embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer or a processor, cause the computer or the processor to perform the method according to any of the above embodiments.

[0164] The device embodiments correspond to the method embodiments and have the same technical effects. For details, refer to the method embodiments. The device embodiments are based on the method embodiments, and for details, refer to the method embodiments, which will not be described here again. Those skilled in the art can understand that the drawings are only schematic diagrams of an embodiment, and the modules or flows in the drawings are not necessarily required for implementing the present application.

[0165] Those skilled 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 changed and located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be 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 not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacements for some technical features; and 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 tracing a reverse path, characterized by, The method comprises: acquiring actual driving track points before track reversing; acquiring a historical track record before track reversing according to the actual driving track points, wherein the historical track record comprises a first historical forward track and a second historical forward track, a line connecting an end point of the first historical forward track and a start point of the second historical forward track constitutes an intermediate reference line, and an included angle between the first historical forward track and the intermediate reference line is greater than or equal to an included angle threshold value; sampling the first historical forward track and the second historical forward track to obtain a first sampling point located on the first historical forward track and a second sampling point located on the second historical forward track; in a case where third and fourth sampling points exist in a horizontal coordinate range of the first and second sampling points, performing interpolation calculation on the first, second, third and fourth sampling points as interpolation points to generate an intermediate curve segment passing through the interpolation points, and sampling the intermediate curve segment according to a preset sampling interval to obtain an intermediate curve segment track composed of discrete points; generating a target track reversing planning route according to a first track reversing planning route with a start point of the first historical forward track and the first sampling point as end points, the intermediate curve segment track, and a second track reversing planning route with the second sampling point and an end point of the second historical forward track as end points.

2. The method of claim 1, wherein, Before the sampling of the first historical forward track and the second historical forward track, the method further comprises: when there is a distance greater than or equal to a first distance threshold value between adjacent track points in the historical track record, performing encryption processing between the adjacent track points with a distance greater than or equal to the first distance threshold value to obtain the historical track record after encryption processing.

3. The method of claim 1, wherein, The generation of the target track reversing planning route according to the first track reversing planning route with the start point of the first historical forward track and the first sampling point as end points, the intermediate curve segment track, and the second track reversing planning route with the second sampling point and the end point of the second historical forward track as end points comprises: sampling the first and second track reversing planning routes to obtain a fifth sampling point located on the first track reversing planning route and a sixth sampling point located on the second track reversing planning route; determining a track with the fifth sampling point and the first sampling point as end points in the first track reversing planning route as a first target track, and determining a track with the second sampling point and the sixth sampling point as end points in the second track reversing planning route as a second target track; performing discrete point smoothing on a track composed of the first target track, the intermediate curve segment track and the second target track with a curvature threshold value as a limit to obtain an optimized intermediate curve segment track; According to a third trace reverse planning route with a starting point of the first trace reverse planning route and an end point of the fifth sampling point, the optimized intermediate curve segment trajectory, and a fourth trace reverse planning route with an end point of the second trace reverse planning route and a starting point of the sixth sampling point, the target trace reverse planning route is generated.

4. The method of claim 1, wherein, The method further comprises: In the case that the third sampling point and / or the fourth sampling point do not exist in the horizontal coordinate range of the first sampling point and the second sampling point, returning to perform the sampling on the first historical forward trajectory and the second historical forward trajectory to obtain the first sampling point on the first historical forward trajectory and the second sampling point on the second historical forward trajectory.

5. The method according to any one of claims 1-4, characterized in that, The method further comprises: According to the actual driving trajectory points, obtaining a historical trajectory record before trace reverse driving comprises: According to a preset trajectory recording interval, recording the first historical forward trajectory, wherein the first historical forward trajectory comprises a plurality of the actual driving trajectory points; From the start of the vehicle reverse driving, determining whether a target included angle is greater than or equal to the included angle threshold, wherein the target included angle is an included angle between a line connecting an end point of the first historical forward trajectory and a currently positioned actual driving trajectory point and the first historical forward trajectory; When the target included angle is less than the included angle threshold, discarding the currently positioned actual driving trajectory point, until the target included angle is greater than or equal to the included angle threshold, determining whether a 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 a second distance threshold; When the distance between the end point of the first historical forward trajectory and the currently positioned actual driving trajectory point is less than the second distance threshold, discarding the currently positioned actual driving trajectory point, until the distance is greater than or equal to the second distance threshold, recording the currently positioned actual driving trajectory point, and when it is determined that the vehicle is currently in a forward driving state, determining that the recorded currently positioned actual driving trajectory point is a starting point of the second historical forward trajectory; 6. The method according to any one of claims 1-4, characterized in that, From the starting point of the second historical forward trajectory, recording the currently positioned actual driving trajectory point according to the preset trajectory recording interval, until a trace reverse driving instruction is received, and the second historical forward trajectory is recorded. The method further comprises: According to the actual driving trajectory points, obtaining a historical trajectory record before trace reverse driving comprises: Obtaining an actual historical trajectory before trace reverse driving, wherein the actual historical trajectory comprises a complete actual driving trajectory between a starting point and an end point of trace reverse driving, the actual historical trajectory comprises a first actual forward trajectory, an actual reverse driving trajectory, and a second actual forward trajectory, and the first actual forward trajectory, the actual reverse driving trajectory, and the second actual forward trajectory each comprise a plurality of the actual driving trajectory points; Sampling the second actual forward trajectory to obtain a seventh sampling point; When the included angle between the line connecting the end point of the first actual advancing track and the seventh sampling point and the first actual advancing track is smaller than the included angle threshold, the sampling of the second actual advancing track to obtain the seventh sampling point is performed until when the included angle between the line connecting the end point of the first actual advancing track and the seventh sampling point and the first actual advancing track is greater than or equal to the included angle threshold, the track point between the seventh sampling point and the end point of the second actual advancing track is taken as the second historical advancing track, and the first actual advancing track is taken as the first historical advancing track.

7. A route planning device for tracing a reverse path, characterized by The device comprises: a first acquisition unit configured to acquire an actual driving track point before track reversing; a second acquisition unit configured to acquire a historical track record before track reversing according to the actual driving track point, wherein the historical track record comprises a first historical advancing track and a second historical advancing track, a line connecting an end point of the first historical advancing track and a start point of the second historical advancing track constitutes an intermediate reference line, and an included angle between the first historical advancing track and the intermediate reference line is greater than or equal to an included angle threshold; a first sampling unit configured to sample the first historical advancing track and the second historical advancing track to obtain a first sampling point located on the first historical advancing track and a second sampling point located on the second historical advancing track; an interpolation unit configured to, in a case where a third sampling point and a fourth sampling point exist in a horizontal coordinate range of the first sampling point and the second sampling point, interpolate 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; a second sampling unit configured to sample the intermediate curve segment according to a preset sampling interval to obtain an intermediate curve segment track composed of discrete points; a generation unit configured to generate a target track reversing planning route according to a first track reversing planning route with the start point of the first historical advancing track and the first sampling point as end points, the intermediate curve segment track, and a second track reversing planning route with the second sampling point and the end point of the second historical advancing track as end points.

8. The apparatus of claim 7, wherein, The device further comprises: an encryption unit configured to, before the sampling of the first historical advancing track and the second historical advancing track, perform encryption processing on adjacent track points with a distance greater than or equal to a first distance threshold in a case where the historical track record comprises the adjacent track points with the distance greater than or equal to the first distance threshold to obtain an encrypted historical track record.

9. The apparatus of claim 7, wherein, The generation unit comprises: a first sampling module configured to sample the first track reversing planning route and the second track reversing planning route to obtain a fifth sampling point located on the first track reversing planning route and a sixth sampling point located on the second track reversing planning route; The first determining module is configured to determine a track with the fifth sampling point and the first sampling point as end points in the first tracing reverse planning route as a first target track, and determine a track with the second sampling point and the sixth sampling point as end points in the second tracing reverse planning route as a second target track; The optimization processing module is configured to perform discrete point smoothing on the track composed of the first target track, the intermediate curve segment track and the second target track with a curvature threshold as a limit, to obtain an optimized intermediate curve segment track; The generation module is configured to generate the target tracing reverse planning route according to a third tracing reverse planning route with a starting point of the first tracing reverse planning route and the fifth sampling point as end points, the optimized intermediate curve segment track, and a fourth tracing reverse planning route with the sixth sampling point and an ending point of the second tracing reverse planning route as end points.

10. The apparatus of claim 7, wherein, The first sampling unit is further configured to, in a case where the third sampling point and / or the fourth sampling point does not exist in a horizontal coordinate range of the first sampling point and the second sampling point, resample the first historical forward track and the second historical forward track to obtain a first sampling point located on the first historical forward track and a second sampling point located on the second historical forward track.

11. The apparatus of any one of claims 7-10, wherein, The acquisition unit comprises: The recording module is configured to record the first historical forward track according to a preset track recording interval, wherein the first historical forward track comprises a plurality of actual driving track points; The determining module is configured to determine, from a start of vehicle reverse driving, whether a target included angle is greater than or equal to an included angle threshold, wherein the target included angle is an included angle between a line connecting an ending point of the first historical forward track and a currently located actual driving track point and the first historical forward track; The discarding module is configured to discard the currently located actual driving track point when the target included angle is less than the included angle threshold; The determining module is further configured to determine, until the target included angle is greater than or equal to the included angle threshold, whether a distance between the ending point of the first historical forward track and the currently located actual driving track point is greater than or equal to a second distance threshold; The discarding module is further configured to discard the currently located actual driving track point when the distance between the ending point of the first historical forward track and the currently located actual driving track point is less than the second distance threshold; The recording module is further configured to record the currently located actual driving track point until the distance is greater than or equal to the second distance threshold; The second determining module is configured to determine, when it is determined that the vehicle is currently in a forward driving state, that the currently located actual driving track point recorded as a starting point of the second historical forward track; The recording module is further configured to record, from the starting point of the second historical forward track, the currently located actual driving track point according to the preset track recording interval, until a tracing reverse instruction is received, to record the second historical forward track.

12. The apparatus of any one of claims 7-10, wherein, The acquisition unit comprises: The acquisition module is configured to acquire an actual historical track before the track-following reversing, wherein the actual historical track comprises a complete actual driving track between a starting point and an ending point of the track-following reversing, the actual historical track comprises a first actual forward track, an actual reversing track and a second actual forward track, and the first actual forward track, the actual reversing track and the second actual forward track each comprise a plurality of actual driving track points; The second sampling module is configured to sample the second actual forward track to obtain a seventh sampling point; and when an included angle between a line connecting the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is smaller than the included angle threshold, the second sampling module returns to sample the second actual forward track to obtain the seventh sampling point. The second determining module is configured to, until when the included angle between the line connecting the ending point of the first actual forward track and the seventh sampling point and the first actual forward track is greater than or equal to the included angle threshold, take a track point between the seventh sampling point and the ending point of the second actual forward track as the second historical forward track, and take the first actual forward track as the first historical forward track.

13. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by a processor, implements the method of any one of claims 1-6.

14. An electronic device, comprising: The electronic device includes: one or more processors; the processor is coupled with a storage device, and the storage device is configured to store one or more programs; when the one or more programs are executed by the one or more processors, the electronic device implements the method of any one of claims 1-6.

15. A vehicle characterized by comprising: The vehicle includes the apparatus of any one of claims 7-12, or includes the electronic device of claim 14. The vehicle includes the apparatus of any one of claims 7-12, or includes the electronic device of claim 14.

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