Tracking reversing path memory method and system, electronic equipment and medium

Abstract

The invention belongs to the technical field of automatic driving assistance, and provides a tracking reversing path memory method and system, electronic equipment and a medium, and the method comprises the steps: obtaining environment perception information; when the tracking reversing function meets the activation condition and the path memory condition at the same time, a control program is started, otherwise, path memory is cleared, and the control program comprises the steps of dynamically detecting historical memory path points and the consistency of the historical memory path points and the current driving direction, correcting the current memory path points and converting the current memory path points into coordinate system original points; the path memory is updated and saved or the path memory is cleared; and when the activation condition is not satisfied, dynamically detecting the historical memory path points, the number of segments of the historical memory path points and the mergibility of the historical memory path points so as to integrate and store the multiple segments of historical memory path points or update the storage structure. According to the invention, the memory path points can be corrected, the trafficability of tracking and reversing is improved, the tracking and reversing function of the vehicle can be normally activated under the condition that the driver fails to actively reverse, and the driving experience and the user satisfaction are improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving assistance technology, and in particular to a method, system, electronic device and medium for remembering a reversing path. Background Technology

[0002] The reversing system can be divided into two functional modules: path memory and reversing trajectory. The overall function of the system is that after the vehicle has traveled a certain distance within a certain speed range, the system can automatically record the vehicle's driving trajectory points and perform smoothing. When the driver activates the reversing trajectory module, the system can automatically control the vehicle to reverse to the starting point of the path according to the memorized path points.

[0003] A reversing system based solely on ultrasonic radar refers to a system that uses ultrasonic radar to detect the vehicle's surrounding environment during its movement, assisting in path memory and reversing trajectory tracking. The path memory function involves the system determining and recording the vehicle's trajectory points while it is traveling within a certain speed range. This is done by combining the position information of obstacles detected by the ultrasonic radar with the vehicle's position calculated from wheel speed pulse sensors, and other status information such as the vehicle's turning radius. This information is then used to provide path information for the subsequent automatic reversing trajectory tracking module.

[0004] Currently, existing methods for remembering reversing paths mainly determine the current path based on the vehicle's direction of travel and speed. Specifically: 1. When the vehicle is moving forward and the speed is less than a threshold, the path points are stored; 2. When the vehicle reverses or the speed exceeds a preset speed, the current position and the position information of the reverse path are cleared; 3. When the vehicle moves forward again and the speed meets the conditions, the path is remembered again.

[0005] However, the existing methods mentioned above only memorize the path based on speed and direction, without correcting the vehicle's waypoints. When reversing through narrow passages, this can easily lead to being forced to stop. At the same time, they do not consider some special situations, such as when the driver tries to reverse out after parking but fails, they cannot continue to use the function, resulting in a poor user experience and certain limitations of the system. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a method, system, electronic device, and medium for remembering a reversing path. This method can correct the remembered path points, improve the passability of reversing, and can normally activate the vehicle's reversing function even if the driver fails to reverse manually, thereby improving the driving experience and user satisfaction.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of this invention provides a method for memorizing a reversing path, comprising:

[0009] Obtain environmental perception information of the current vehicle;

[0010] When the current vehicle's reversing tracking function meets both the activation conditions and the path memory conditions, the control program is started; otherwise, the path memory is cleared. The control program includes dynamically detecting the historical path points and their consistency with the current driving direction, and correcting the current path points by combining environmental perception information and converting them into the origin of the coordinate system in order to update and save the path memory or clear the path memory.

[0011] When the current vehicle reversing function does not meet the activation conditions, the system dynamically detects the historical memory path points and their segment counts, as well as the merging of segment counts, in order to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

[0012] Furthermore, environmental perception information includes information about obstacles around the vehicle, its location, and its motion status.

[0013] Furthermore, the method also includes: determining that the current vehicle meets the activation conditions when the current vehicle actuator is functioning normally and is in a driving state;

[0014] Provided that the current vehicle meets the activation conditions, the current vehicle is detected to be within the preset speed threshold based on environmental perception information, and the environmental information of the current driving path is verified to meet the preset environmental conditions. Then, it is determined that the current vehicle meets the path memory conditions.

[0015] When the current vehicle's reversing tracking function meets both the activation and path memory conditions, the control program is started; otherwise, the path memory is cleared. Clearing the path memory includes temporarily disabling the path memory function and deleting historical path point information, and then re-evaluating whether to start the control program.

[0016] Furthermore, the control program also includes: dynamically detecting historical memory path points; if no historical memory path point is detected, correcting the current memory path point based on environmental perception information, and using the current memory path point as the starting point of the driving route to complete the update and saving of the path memory.

[0017] If a historical path point is detected, determine whether the direction of the historical path point is consistent with the current driving direction. If the directions are consistent, determine whether the current path point meets the correction conditions based on environmental perception information. If the directions are inconsistent, determine whether the current path point meets the correction conditions based on environmental perception information and the total driving distance information of the historical path points.

[0018] Furthermore, the correction conditions include: when the direction of the historical memory path point is consistent with the current driving direction, and the distance between the current adjacent path points is determined based on the environmental perception information to meet the preset first distance threshold condition, the current memory path point is corrected in combination with the environmental perception information and converted into the origin of the coordinate system in order to update and save the path memory; if the preset first distance threshold condition is not met, the path memory is cleared.

[0019] When the direction of a historical path point is inconsistent with the current driving direction, and the total driving distance of the historical path point meets the preset path length threshold, the end point of the historical path point is taken as the starting point of the path segment and saved. After saving, if the distance between the current adjacent path points meets the preset second distance threshold based on the environmental perception information, the current path point is corrected and converted into the origin of the coordinate system in combination with the environmental perception information to update and save the path memory. If the preset second distance threshold is not met, the path memory is cleared.

[0020] Furthermore, the method also includes: when the current vehicle actuator is functioning normally and is in a stationary state, determining that the current vehicle does not meet the activation conditions.

[0021] If the current vehicle does not meet the activation conditions, the historical memory path points are dynamically detected. If no historical memory path points are detected, the path memory is cleared. If the number of segments of the historical memory path points detected is one, the historical memory path points are saved and the control program is re-determined to start. If the number of segments of the historical memory path points detected is at least two, based on the merging of multiple historical memory path points, the multiple historical memory path points are integrated and stored or the storage structure of multiple historical memory path points is updated.

[0022] A second aspect of the present invention provides a reversing path memory system, comprising:

[0023] The acquisition module is used to acquire the current environmental perception information of the vehicle.

[0024] The condition judgment and control module is used to start the control program when the current vehicle's reversing function meets both the activation condition and the path memory condition. Otherwise, the path memory is cleared. The control program includes dynamically detecting the historical path points and their consistency with the current driving direction, and correcting the current path points by combining environmental perception information and converting them into the origin of the coordinate system in order to update and save the path memory or clear the path memory.

[0025] The condition judgment and integration module is used to dynamically detect the historical memory path points and their segment counts and the merging of segment counts when the current vehicle tracking and reversing function does not meet the activation conditions, so as to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

[0026] Furthermore, the condition judgment and control module includes a historical memory path point detection module, a direction consistency judgment and correction module, and an integrated storage module, among which,

[0027] The historical memory path point detection module is used to detect the existence of historical memory path points and the number of segments.

[0028] The direction consistency judgment and correction module is used to judge the consistency between the direction of the historical memory path point and the current driving direction, and correct the current memory path point according to the judgment result and convert it into the origin of the coordinate system based on the correction conditions.

[0029] An integrated storage module is used to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points based on the merging capability of multiple historical memory path points when the number of segments detected is at least two.

[0030] A third aspect of the present invention provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a computer's processor, cause the computer to perform the aforementioned line-following reverse path memory method.

[0031] A fourth aspect of the present invention provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the steps of the above-described reversing path memory method.

[0032] The beneficial technical effects of this invention are as follows:

[0033] This invention acquires the vehicle's environmental perception information and uses it as basic association information. When the preconditions for starting the control program are met, the current memorized path points are corrected to ensure that the memorized path points are as close as possible to the midpoint of the drivable area, improving the vehicle's maneuverability during reversing. Simultaneously, based on the correction conditions, this invention updates and saves or clears the path memory, ensuring accuracy in curve scenarios and reducing the risk of forced stopping or collisions. Furthermore, this invention converts the latest memorized path point into the coordinate origin and saves all memorized path points at the coordinate system origin, providing reliable path information for subsequent reversing.

[0034] Furthermore, when multiple historical memory path points exist, the present invention uses different storage methods based on their merging ability to determine the nature of the data. This allows the vehicle's reversing function to be activated normally even if the driver fails to reverse, thus improving the driving experience and user satisfaction.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0036] The accompanying drawings, incorporated in and forming part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without inventive effort. In the drawings:

[0037] Figure 1 This is a flowchart of the method for remembering the reversing path in this application;

[0038] Figure 2 This is a block diagram illustrating the principle of the reversing path memory method in this application;

[0039] Figure 3 This is a scenario application diagram for path point correction in this application;

[0040] Figure 4 This is an application diagram of the path point merging scenario in this application;

[0041] Figure 5 This is a framework diagram of the reversing path memory system of this application;

[0042] Figure 6 This is a framework diagram of the condition judgment and control module for this application;

[0043] Figure 7 A schematic diagram of the structure of a computer system suitable for an embodiment of this application is shown. Detailed Implementation

[0044] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should be understood that certain features of the invention (described in the context of separate embodiments for clarity) may also be provided in a single embodiment. Conversely, multiple features of the invention (described in the context of a single embodiment for brevity) may also be provided separately or in any suitable combination or, where appropriate, in any other described embodiment of the invention. Certain features described in the context of various embodiments will not be considered essential features of those embodiments unless the embodiment is inoperable without those elements. The invention is further illustrated below by specific examples; however, it should be noted that the specific process conditions and results described in the embodiments of the invention are merely illustrative and should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be covered within the scope of protection of the invention.

[0045] First, it should be noted that the Track Tracking Reversing System (LRAS) of this application refers to a system that can automatically record the vehicle's driving trajectory points and perform smoothing after the vehicle has traveled a certain distance within a certain speed range. When the driver activates the reversing tracking module, the system can automatically control the vehicle to reverse to the starting point of the memorized path.

[0046] The braking system (ESC) is a chassis control technology upgraded from the anti-lock braking system (ABS) and traction control system (TCS). It monitors the vehicle status in real time (such as wheel speed, steering wheel angle, yaw rate, etc.) through a sensor network. When it detects that the actual driving trajectory of the vehicle is inconsistent with the driver's intention, it automatically applies braking force to one or more wheels and adjusts the engine torque to correct the vehicle's attitude.

[0047] EPS (Electrical Power Steering) is a steering assistance system based on electronic sensors and electric motors. By monitoring the driver's steering operations (such as torque and angle) and vehicle speed signals in real time, it dynamically adjusts the amount of assistance output by the electric motor, thereby reducing the steering force required and improving handling comfort and safety.

[0048] Human-machine interface (HMI) is an interface that connects human users with machines, automated systems, or computers. It achieves two-way information transmission and operation control through the combination of hardware (such as touch screens, buttons, and sensors) and software (such as graphical interfaces and control logic).

[0049] The vehicle coordinate system (VCS) refers to a coordinate system with the center point of the rear axle of the vehicle as the origin, the direction pointing towards the front of the vehicle as the positive x-axis, and the direction perpendicular to the x-axis pointing to the left side of the vehicle as the positive y-axis.

[0050] GCS stands for Global Coordinate System.

[0051] The direction of vehicle travel refers to whether the vehicle is moving forward or backward.

[0052] Please see Figure 1 The flowchart of the reversing path memory method of this application is as follows:

[0053] Step S100: Obtain the current environmental perception information of the vehicle.

[0054] Specifically, the environmental perception information in this application includes information on surrounding obstacles, location, and motion status of the current vehicle. This application acquires surrounding obstacle information based on 12 ultrasonic radars deployed on the vehicle's body structure, including obstacle coordinates and vehicle distance information. These obstacles include static obstacles (curbsides, steps, low posts, walls, parking barriers, green belts, and trash cans, etc.), dynamic obstacles (pedestrians, bicycles, and other vehicles), and obstacles specific to certain scenarios (barbed wire, fences, slopes, and uneven ground, etc.). The vehicle distance information is the real-time spatial interval data between the vehicle and surrounding obstacles (including other vehicles), measured by ultrasonic radar, including straight-line distance and temporal distance. This application acquires the current vehicle's location information based on wheel speed sensors, including the vehicle's coordinates and heading angle under GCS (Global Stability Control System); and acquires the current vehicle's motion status information based on EPS (Electrical Power Surge), including vehicle speed, direction of travel, distance traveled, turning angle, and turning radius.

[0055] Step S200: When the current vehicle reversing function meets both the activation condition and the path memory condition, the control program is started; otherwise, the path memory is cleared. The control program includes dynamically detecting the historical path points and their consistency with the current driving direction, and correcting the current path points by combining environmental perception information and converting them into the origin of the coordinate system, so as to update and save the path memory or clear the path memory.

[0056] Specifically, this application determines that the current vehicle meets the activation conditions when the actuator of the current vehicle is functioning normally and the vehicle is in a driving state. Under the premise that the current vehicle meets the activation conditions, the application determines that the current vehicle meets the path memory conditions when the environmental perception information detects that the current vehicle is within the preset speed threshold and verifies that the environmental information of the current driving path meets the preset environmental conditions. When the current vehicle's reversing function meets both the activation conditions and the path memory conditions, the application starts the control program; otherwise, the path memory is cleared. Clearing the path memory includes temporarily disabling the path memory function and deleting the historical path point information, and then re-determining whether to start the control program.

[0057] More specifically, the method of this application first performs a self-check on the current vehicle to ensure that the actuators such as ESC and EPS are functioning normally and can perform automatic reversing control. If the self-check passes and the actuators are functioning normally, the method determines whether the current vehicle is stationary or moving. If the current vehicle is moving, the method confirms that the current vehicle meets the activation conditions, and the reversing function is available. Under the premise that the current vehicle meets the activation conditions, this application determines whether the current vehicle speed is within a preset speed threshold based on the vehicle speed information. If the speed meets the preset speed threshold, the method calculates the path curvature, i.e., the environmental information of the current driving path, by combining information on surrounding obstacles and the turning angle information obtained from EPS. If the environmental information of the current driving path is verified to meet the preset environmental conditions, the method determines that the current vehicle meets the path memory conditions. The preset speed threshold in this application includes two speed thresholds: entry speed and exit speed, with the entry speed being less than the exit speed, to ensure that the first memorized path point information is more accurate when the control program is started. The application presets environmental conditions including the narrowest road distance and curvature threshold. The verification method is that during the current vehicle's driving process, the narrowest road distance cannot be less than the vehicle width (including the width of the two rearview mirrors) plus 60cm (a calibrable parameter), and the path curvature during driving cannot exceed 90% of the path curvature corresponding to the vehicle's maximum turning angle (a calibrable parameter), to prevent tracking failure caused by obstacle positioning deviation and actuator control accuracy deviation.

[0058] More specifically, if the current vehicle self-check fails, it is confirmed that the current vehicle does not meet the activation conditions. The driver is then prompted via the HMI that "Trajectory Reversing Function is Unavailable," and the Trajectory Reversing Function activation switch is grayed out, indicating that it is unavailable. If it is determined that the current vehicle speed is not within the preset speed threshold, the route memory function is temporarily disabled and the historical route point information is deleted, and the control program is re-evaluated to determine whether to start the control program. If it is verified that the environmental information of the current driving route does not meet the preset environmental conditions, the route memory function is temporarily disabled and the historical route point information is deleted, and the control program is re-evaluated to determine whether to start the control program.

[0059] More specifically, when the vehicle's reversing tracking function simultaneously meets both the activation and path memory conditions, a control program is initiated. This program includes dynamically detecting historical path points. If no historical path point is detected, the current path point is corrected based on environmental perception information, specifically the distance to obstacles around the current path and the vehicle's position. This corrected path point is then used as the starting point of the current driving path to update and save the path memory. If a historical path point is detected, the consistency between the direction of the historical path point and the current driving direction is determined. If the directions are consistent, the current path point is judged to meet the correction conditions based on environmental perception information. If the directions are inconsistent, the current path point is judged to meet the correction conditions based on environmental perception information and the total driving distance of the historical path points. Further, the correction conditions include: when the direction of the historical path point is consistent with the current driving direction, and the distance between adjacent path points meets a preset first distance threshold based on environmental perception information, the current path point is corrected and converted to the origin of the coordinate system to update and save the path memory. If the preset first distance threshold is not met, the path memory is cleared. When the direction of a historical path point is inconsistent with the current driving direction, and the total driving distance of the historical path point meets a preset path length threshold, the endpoint of the historical path point is used as the starting point of the path segment and saved. After saving, if the distance between the current adjacent path points meets a preset second distance threshold based on environmental perception information, the current path point is corrected and converted to the origin of the coordinate system to update and save the path memory. If the preset second distance threshold is not met, the path memory is cleared. In this application, the distance between the current adjacent path points is the distance between the current path point and the previous path point. The preset first distance threshold is that the distance between the current adjacent path points is greater than the first distance threshold. The preset path length threshold is that the total driving distance of the historical path points exceeds the minimum path length threshold. The preset second distance threshold is that the distance between the current path point and the starting point is greater than the second distance threshold.

[0060] Step S300: When the current vehicle reversing function does not meet the activation conditions, dynamically detect the historical memory path points and their segment counts and the merging of segment counts in order to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

[0061] Specifically, when the current vehicle actuator is functioning normally and is stationary, it is determined that the current vehicle does not meet the activation conditions. Given that the current vehicle does not meet the activation conditions, historical memory path points are dynamically detected. If no historical memory path points are detected, the path memory is cleared; if the detected historical memory path point has only one segment, the historical memory path point is saved and the control program is re-evaluated to determine whether to start; if the detected historical memory path point has at least two segments, based on the merging capability of multiple historical memory path points, the multiple historical memory path points are integrated and stored, or the storage structure of the multiple historical memory path points is updated.

[0062] Please see Figure 2 The following is a block diagram illustrating the principle of the reverse path memory method described in this application:

[0063] Step S1: Obtain information about obstacles around the vehicle.

[0064] Specifically, information about obstacles around the vehicle is obtained based on the 12 USS (Ultrasonic Radars) currently deployed on the vehicle.

[0065] Step S2: Obtain vehicle location and motion status information.

[0066] Specifically, the current vehicle position information is obtained from the wheel speed pulse sensor, and the current vehicle motion state information is obtained from the EPS.

[0067] Step S3: System self-test is normal.

[0068] Specifically, if the current vehicle self-check fails, it is confirmed that the current vehicle does not meet the activation conditions. The driver is then prompted via HMI that "Tracking Reverse Function is Unavailable," and the Tracking Reverse Function activation switch is grayed out, indicating that it is unavailable. If the current vehicle system self-check is normal, the process proceeds to step S4.

[0069] Step S4: The vehicle comes to a stop.

[0070] Specifically, if the vehicle is currently in motion, proceed to step S5; if the vehicle is currently stationary, proceed to step S12.

[0071] Step S5: The vehicle speed is within the threshold range.

[0072] Specifically, based on the current vehicle speed information, it is determined whether the current vehicle speed is within a preset speed threshold. If the speed meets the preset speed threshold, proceed to step S6. If the speed does not meet the preset speed threshold, the vehicle's route memory function is temporarily disabled, all remembered waypoint information is cleared, and the process returns to step S4.

[0073] Step S6: The path environment information meets the requirements.

[0074] Specifically, the path curvature, i.e., the environmental information of the current driving path, is calculated by combining information on surrounding obstacles and the turning angle information obtained by EPS. If the environmental information of the current driving path meets the preset environmental conditions, it is determined that the current vehicle meets the path memory conditions, and the process proceeds to step S7. If the preset environmental conditions are not met, the vehicle's path memory function is temporarily turned off, all memorized path point information is cleared, and the process returns to step S4.

[0075] Step S7: Historical memory path points exist.

[0076] Specifically, if a historical path point is detected, proceed to step S8. If no historical path point is detected, the path point is corrected based on the location information of obstacles and vehicles around the path, and stored as the first path point.

[0077] More specifically, the vehicle history memory path point (i.e., the original path point) in this application refers to the position information of the vehicle's rear axle center point calculated during vehicle operation based on wheel speed pulse sensor and EPS steering angle information, including x and y coordinates, and the vehicle's heading angle. The method for correcting the memory path point in this application is detailed below:

[0078] Please see Figure 3 This is an application diagram of the path point correction scenario in this application. In this application, d_L represents the closest distance from the left rear obstacle to the vehicle body, and d_R represents the closest distance from the right rear obstacle to the vehicle body. Point P0 represents the path point memorized at the previous moment, point P1 represents the corrected path point to be memorized at the current moment, P1` represents the original path point of the vehicle at the current moment, i.e., the historical path point, and P1`` represents the midpoint of the path segment obtained based on the distance information of obstacles on both sides of the vehicle. Points P1` and P1`` combined with the vehicle's heading angle direction constitute the drivable area of ​​this position point; (X_vcs, Y_vcs) represents the VCS coordinate system, and (X_gcs, Y_gcs) represents the GCS coordinate system.

[0079] Furthermore, the current location point d of the vehicle in this application P1`P1`` The width of the drivable area can be calculated based on the closest distance between the vehicle and obstacles on the left and right sides:

[0080] (Formula 1)

[0081] To ensure a high success rate in tracking, this application uses the midpoint of the drivable area as the corrected memory path point. Therefore, point P1 is the midpoint between P1' and P1''. Since the obstacle's position information is obtained relative to the VCS coordinates, points P1, P1', and P1'' are all located along the Y-axis of the VCS coordinate system, and their corresponding heading angles θ are the same, i.e.:

[0082] (Formula 2)

[0083] Based on Formulas 1 and 2, the coordinates of point P1 in this application are:

[0084] (Formula 3)

[0085] Furthermore, if a path point P0 exists from the previous time step, considering that the current position has been corrected, the heading angle of the path point P0 from the previous time step needs to be corrected. The heading angle correction value ∠P1`P0P1 can be obtained using the law of cosines:

[0086] (Formula 4)

[0087] Therefore, based on Equation 4, the heading angle θ0 at point P0 needs to be updated as follows:

[0088] (Formula 5)

[0089] In Formula 5, sign(d) P1`P1`` ) indicates taking d P1`P1`` The positive and negative signs.

[0090] Step S8: The current driving direction is consistent with the direction of the historical path point.

[0091] Specifically, the current driving direction of the vehicle is compared with the direction of the historical memory path point to determine whether they are in the same direction of movement. If the directions are the same, proceed to step S9; if the directions are different, proceed to step S10. More specifically, this application assumes that the direction of the first segment of the historical memory path point is the vehicle's forward driving direction.

[0092] Step S9: The distance between the current adjacent path points is greater than the first distance threshold.

[0093] Specifically, if the distance between current adjacent path points is greater than a first distance threshold, then the distance between current adjacent path points is determined to meet the preset first distance threshold condition. Based on the position information of obstacles and vehicles around the path, the path points are corrected. After correction, the path points are transferred to the current VCS and saved based on historical path points. Then, the process returns to step S4 to update and save the path memory in real time. More specifically, the path point correction method is the same as the correction method in step S7. When the vehicle turns, the first distance threshold is determined based on the turning radius, mainly obtained through a lookup table method; the specific value can be obtained through actual vehicle calibration. When establishing a coordinate system using the corrected path points as the origin, the positive X-axis of the coordinate system points directly forward of the vehicle along the heading angle direction through the origin; the positive Y-axis of the coordinate system is obtained by rotating 90° counterclockwise from the origin along the heading angle. If the distance between current adjacent path points is less than the first distance threshold, the process directly returns to step S4.

[0094] Step S10: The length of the historical path exceeds the threshold.

[0095] Specifically, when the direction of a historical path point is inconsistent with the current driving direction, and the total driving distance of the historical path points exceeds the minimum memory path length threshold, it is determined that the total driving distance information of the historical path points meets the preset path length threshold condition. The endpoint of the historical path point is taken as the starting point of the path segment and saved. After saving, proceed to step S11. If the total driving distance of the historical path points is less than the minimum memory path length threshold, it is determined that the total driving distance information of the historical path points does not meet the preset path length threshold condition. All historical path point information is cleared, and the process returns to step S4.

[0096] More specifically, the total travel distance of the historical memory path points in this application can be obtained in two ways: one is by using the Pythagorean theorem based on the coordinate changes between each point; the other is by multiplying the wheel speed pulse change by the travel distance information corresponding to a single pulse.

[0097] Step S11: The current distance between adjacent path points is greater than the second distance threshold.

[0098] Specifically, if the distance between current adjacent path points (the distance between the current remembered path point and the starting point) is greater than the second distance threshold, then the distance between current adjacent path points is determined to meet the preset second distance threshold condition. Based on the position information of obstacles and vehicles around the path, the path points are corrected. After correction, the path points are transferred to the current VCS and saved based on the historical remembered path points. Then, the process returns to step S4 to update and save the path memory in real time. More specifically, the path point correction method is the same as the correction method in step S7. When the vehicle turns, the second distance threshold is determined based on the turning radius, mainly obtained through a lookup table method; the specific value can be obtained through actual vehicle calibration. When establishing a coordinate system using the corrected path point as the origin, the positive X-axis of the coordinate system points directly forward of the vehicle along the heading angle direction through the origin; the positive Y-axis of the coordinate system is obtained by rotating 90° counterclockwise from the origin along the heading angle. If the distance between current adjacent path points is less than the second distance threshold, the process directly returns to step S4.

[0099] Step S12: Historical memory path points exist.

[0100] Specifically, when the vehicle is stationary, it checks whether there are historical memory path points. If they exist, it proceeds to step S13; otherwise, it proceeds to step S14.

[0101] Step S13: Only one historical memory path point exists.

[0102] Specifically, determine whether there is only one historical memory path point information. If so, save the historical memory path point information and return to step S4; otherwise, proceed to step S14.

[0103] More specifically, when the vehicle is stationary, this application detects the number of segments of the currently saved historical memory path point information. The number of segments is distinguished by the driving direction or gear signal. As long as there is a change in direction or D / R gear, the number of segments increases by 1.

[0104] Step S14: Can two adjacent path segments be merged?

[0105] Specifically, when this application detects the existence of more than two historical memory path point information, it will determine whether the latest two paths can be merged. If they can, the latest two paths will be merged into one path and saved again to complete the integrated storage. If they cannot, the path will be saved in segments according to the travel direction of the memory path to complete the update of the storage structure of multiple historical memory path points.

[0106] More specifically, when this application detects the existence of two or more historical memory path points, it determines whether the two most recent historical memory path points can be merged, with the vehicle's forward direction as the primary path. If they can be merged, when the driver activates the reversing tracking function, the vehicle will directly reverse along the merged path; if they cannot be merged, when the driver activates the reversing tracking function, the HMI will prompt the driver with "It is currently impossible to directly reverse back to the starting position. Do you want to use the tracking function to return to the starting position?", meaning the vehicle will reverse back to the starting position exactly according to the number of memorized path segments.

[0107] For more details, please refer to Figure 4 This is an application diagram of the path point merging scenario in this application. The path point merging method of this application is detailed as follows:

[0108] When the number of segments of the historical memory path points detected exceeds two, and multiple historical memory path points can be merged, the path point of the first segment remembered by the vehicle in this application is the arrow line between the starting point 1 and the parking point 1; the path point of the second segment remembered is the arrow line between the starting point 2 and the parking point 2. The first segment is the forward driving path, and the second segment is the path traveled when the driver attempts to reverse. Therefore, parking point 1 and starting point 2 are the same point, and parking point 2 is also the final parking point.

[0109] At the final parking point, when the vehicle is stationary, the system detects two driving paths. The system then uses a lookup table to find the point closest to the final parking point on the first remembered path. Using this closest point as the center point of the front boundary, it expands a certain interval along the corresponding VCS coordinate system to obtain a path point matching area. Within this area, it identifies all points on the first path and then finds the optimal matching point based on the heading angle and the coordinate system deviation. If an optimal matching point exists, the two remembered paths can be merged, and the final remembered path information is the arrow line between starting point 1 and parking point 2, with the driving direction still forward. If no optimal matching point exists, the two remembered path information are stored separately: the first remembered path is the arrow line from starting point 1 to parking point 1 (forward), and the second remembered path is the arrow line from starting point 2 to parking point 2 (backward).

[0110] Furthermore, in the method of this application, if the vehicle is equipped with a 360-degree surround view function as standard when reversing, the left and right rearview mirrors of the vehicle can be automatically retracted during the reversing process to improve the passability of narrow roads.

[0111] Furthermore, the method of this application utilizes sensors such as ultrasonic radar to realize the path memory function in the line-following reversing system, resulting in lower hardware costs. Simultaneously, this method corrects the path points to be memorized based on surrounding obstacle information detected by ultrasonic radar and vehicle information obtained from EPS, wheel speed pulse sensors, etc., making them closer to the center of the drivable area, thus improving the passability of line-following reversing. When saving the path, if there are two or more memorized paths, if the paths can be merged, only the merged path is ultimately saved; if they cannot be merged, segmented saving is used. This allows the line-following reversing function to still be activated even if the driver's reversing attempt fails, improving the driving experience.

[0112] Figure 5 This is a framework diagram of the reversing path memory system of this application. The system can be configured on the vehicle's smart terminal. This system can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the system is applicable.

[0113] Please see Figure 5 The present application for a reversing path memory system 500 includes:

[0114] The acquisition module 510 is used to acquire the environmental perception information of the current vehicle;

[0115] The condition judgment and control module 520 is used to start the control program when the current vehicle tracking reversing function meets both the activation condition and the path memory condition. Otherwise, the path memory is cleared. The control program includes dynamically detecting the historical memory path points and their consistency with the current driving direction, and correcting the current memory path points by combining environmental perception information and converting them into the origin of the coordinate system in order to update and save the path memory or clear the path memory.

[0116] The condition judgment and integration module 530 is used to dynamically detect the historical memory path points and their segment counts and the merging of segment counts when the current vehicle tracking and reversing function does not meet the activation conditions, so as to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

[0117] Further, please refer to Figure 6 The condition judgment and control module 520 of this application includes a historical memory path point detection module 521, a direction consistency judgment and correction module 522, and an integrated storage module 523, wherein,

[0118] The historical memory path point detection module 521 is used to detect the existence and segmentation of historical memory path points.

[0119] The direction consistency judgment and correction module 522 is used to judge the consistency between the direction of the historical memory path point and the current driving direction, and correct the current memory path point based on the judgment result and the correction conditions, and convert it into the origin of the coordinate system.

[0120] The integrated storage module 523 is used to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points based on the merging of multiple historical memory path points when the number of segments detected is at least two.

[0121] Furthermore, this application's system determines the location information of obstacles around the vehicle by receiving echo information from ultrasonic radar, thus defining the surrounding environment of the vehicle's driving area. It obtains the vehicle's position information in the global coordinate system (GCS) based on wheel speed pulse sensors, and combines this with EPS to obtain motion state information such as vehicle speed, turning radius, and heading angle. When the vehicle speed meets a preset speed threshold, the path points are corrected in real time to ensure that the memorized path points are as close as possible to the midpoint of the drivable area, improving the vehicle's passability during reversing. Simultaneously, the spacing between memorized path points is determined based on the turning radius during driving, ensuring accuracy in curve scenarios and reducing the risk of forced stopping or collisions. Finally, the memorized path point information is converted to the current vehicle coordinate system (VCS) in real time and saved, providing reliable path information for subsequent reversing.

[0122] Furthermore, the system in this application has the route memory function enabled by default after the vehicle is powered on. During driving, the system will adjust the enabled status of the function and perform operations such as saving and clearing the memorized route points based on the driving speed and surrounding environment information.

[0123] It should be noted that the line-following reversing path memory system and the line-following reversing path memory method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the line-following reversing path memory system provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0124] Embodiments of this application also provide a computer device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the computer device to implement the tracking reverse path memory method provided in the above embodiments.

[0125] Figure 7A schematic diagram of the structure of a computer system suitable for an embodiment of this application is shown. It should be noted that... Figure 7 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0126] like Figure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage section 708 into a random access memory (RAM) 703, such as performing the methods described in the above embodiments. The RAM 703 also stores various programs and data required for system operation. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704. The following components are connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (local area network) card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A driver 710 is also connected to the I / O interface 705 as needed. Removable media 711, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on drive 710 as needed so that computer programs read from them can be installed into storage section 708 as needed.

[0127] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer tool programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs various functions defined in the system of this application.

[0128] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, flash memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. Computer programs contained on computer-readable media can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0130] The units described in the embodiments of this application can be implemented by tools or by hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the unit itself.

[0131] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the line-following reverse path memory method as described above. This computer-readable storage medium may be included in the computer device described in the above embodiments, or it may exist independently and not incorporated into the computer device.

[0132] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the line-following reverse path memory method provided in the various embodiments described above.

[0133] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for memorizing a reversing path, characterized in that, The method includes: Obtain environmental perception information of the current vehicle; When the current vehicle reversing function meets both the activation condition and the path memory condition, the control program is started; otherwise, the path memory is cleared. The control program includes dynamically detecting the historical path points and their consistency with the current driving direction, and correcting the current path points by combining the environmental perception information and converting them into the origin of the coordinate system, so as to update and save the path memory or clear the path memory. When the current vehicle reversing function does not meet the activation conditions, the system dynamically detects the historical memory path points and their number of segments, as well as the merging of the number of segments, in order to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

2. The method for remembering a reversing path according to claim 1, characterized in that, The environmental perception information includes information about surrounding obstacles, location, and motion status of the current vehicle.

3. The method for remembering a reversing path according to claim 2, characterized in that, The method further includes: when the current vehicle actuator is functioning normally and is in a driving state, determining that the current vehicle meets the activation condition; Provided that the current vehicle meets the activation conditions, if the current vehicle is detected to be within a preset speed threshold based on the environmental perception information, and the environmental information of the current driving path is verified to meet the preset environmental conditions, then the current vehicle is determined to meet the path memory conditions. When the current vehicle reversing function simultaneously meets the activation condition and the path memory condition, the control program is started; otherwise, the path memory is cleared. Clearing the path memory includes temporarily disabling the path memory function and deleting historical path point information, and then re-determining whether to start the control program.

4. The method for remembering a reversing path according to claim 3, characterized in that, The control program further includes: dynamically detecting historical memory path points; if no historical memory path point is detected, correcting the current memory path point based on the environmental perception information, and using the current memory path point as the starting point of the driving route to complete the update and saving of the path memory. If the historical memory path point is detected, it is determined whether the direction of the historical memory path point is consistent with the current driving direction. If the directions are consistent, it is determined whether the current memory path point meets the correction conditions based on the environmental perception information. If the directions are inconsistent, it is determined whether the current memory path point meets the correction conditions based on the environmental perception information and the total driving distance information of the historical memory path point.

5. The method for remembering a reversing path according to claim 4, characterized in that, The correction conditions include: when the direction of the historical memory path point is consistent with the current driving direction, and the distance between the current adjacent path points is determined to meet the preset first distance threshold condition based on the environmental perception information, the current memory path point is corrected and converted into the origin of the coordinate system in combination with the environmental perception information, so as to update and save the path memory; if the preset first distance threshold condition is not met, the path memory is cleared. When the direction of the historical memory path point is inconsistent with the current driving direction, and the total driving distance information of the historical memory path point meets the preset path length threshold condition, the end point of the historical memory path point is taken as the starting point of the path segment and saved. After saving, based on the environmental perception information, if the current distance between adjacent path points meets the preset second distance threshold condition, the current memory path point is corrected and converted into the origin of the coordinate system in combination with the environmental perception information to update and save the path memory; if the preset second distance threshold condition is not met, the path memory is cleared.

6. The method for remembering a reversing path according to claim 3, characterized in that, The method further includes: when the current vehicle actuator is functioning normally and is in a stationary state, determining that the current vehicle does not meet the activation condition. If the current vehicle does not meet the activation conditions, the historical memory path points are dynamically detected. If no historical memory path points are detected, the path memory is cleared. If the number of segments of the historical memory path points detected is one, the historical memory path points are saved and the control program is re-determined to start. If the number of segments of the historical memory path points detected is at least two, based on the merging of multiple historical memory path points, the multiple historical memory path points are integrated and stored or the storage structure of the multiple historical memory path points is updated.

7. A reversing path memory system, characterized in that, include: The acquisition module is used to acquire the current environmental perception information of the vehicle. The condition judgment and control module is used to start the control program when the current vehicle tracking reversing function meets both the activation condition and the path memory condition; otherwise, the path memory is cleared. The control program includes dynamically detecting the historical memory path points and their consistency with the current driving direction, and correcting the current memory path points by combining the environmental perception information and converting them into the origin of the coordinate system, so as to update and save the path memory or clear the path memory. The condition judgment and integration module is used to dynamically detect the historical memory path points and their number of segments, as well as the merging of the number of segments, when the current vehicle tracking and reversing function does not meet the activation conditions, so as to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points.

8. The reversing path memory system according to claim 7, characterized in that, The condition judgment and control module includes a historical memory path point detection module, a direction consistency judgment and correction module, and an integrated storage module. The historical memory path point detection module is used to detect the existence and segmentation of historical memory path points. The direction consistency judgment and correction module is used to judge the consistency between the direction of the historical memory path point and the current driving direction, and correct the current memory path point based on the judgment result and the correction condition, and convert it into the origin of the coordinate system. The integrated storage module is used to integrate and store multiple historical memory path points or update the storage structure of multiple historical memory path points based on the merging capability of multiple historical memory path points when the number of segments detected is at least two.

9. A computer-readable storage medium, characterized in that, It stores computer-readable instructions, which, when executed by the computer's processor, cause the computer to perform the tracking reverse path memory method as described in any one of claims 1 to 6.

10. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the tracking reverse path memory method according to any one of claims 1 to 6.

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