Vehicle outer contour line generation method and device, computer equipment, readable storage medium and program product

Abstract

The application relates to a vehicle outer contour line generation method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: when a vehicle is in an automatic parking state, the size of the vehicle shape and a parking track planned for the vehicle are acquired; the parking track comprises a plurality of vehicle track points; for each vehicle track point, a plurality of vehicle outer contour points corresponding to the vehicle track point are generated according to the size of the vehicle shape under the constraint of the parking track; from the plurality of vehicle outer contour points, a target outer contour point matching the driving direction corresponding to the vehicle track point is selected; and the vehicle outer contour line of the vehicle when driving according to the parking track is determined by integrating the target outer contour points corresponding to each vehicle track point. The method can improve the accuracy of vehicle outer contour line generation.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus, computer device, computer-readable storage medium, and computer program product for generating vehicle outlines. Background Technology

[0002] With the rapid development of autonomous driving and intelligent driver assistance technologies, automatic parking has become a core feature of high-end models and intelligent connected vehicles. This technology, through environmental perception, path planning, and motion control, enables vehicles to autonomously complete parking operations within limited spaces, significantly reducing the driver's workload, and is particularly valuable in congested urban parking scenarios. During automatic parking, the system not only needs to generate a smooth and feasible parking trajectory but also must assess the space occupancy of the vehicle along that trajectory in real time to avoid collisions with surrounding obstacles, thereby ensuring parking safety.

[0003] However, most existing methods use the trajectory point as the center for fixed offset or simply rotate the entire rectangle. When generating candidate outline points, they usually only output one or a few outline points with fixed orientations, without considering the differences in the actual outer boundary formed by different candidate orientations at the same trajectory point during the movement. This results in the selected outline point not matching the actual driving direction at that point, thus causing inaccurate outline description. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for generating vehicle outer contour lines that can improve the accuracy of vehicle outer contour line generation, in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for generating the outer contour of a vehicle, including:

[0006] When the vehicle is in automatic parking mode, the vehicle's external dimensions and the parking trajectory planned for the vehicle are obtained; the parking trajectory includes multiple vehicle trajectory points.

[0007] For each vehicle trajectory point, under the constraint of the parking trajectory, multiple vehicle outer contour points corresponding to the vehicle trajectory point are generated according to the external dimensions.

[0008] From the plurality of vehicle outer contour points, select a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point;

[0009] By integrating the target outer contour points corresponding to each of the vehicle trajectory points, the vehicle outer contour line is determined when the vehicle is traveling according to the parking trajectory.

[0010] In one embodiment, the method further includes:

[0011] Obtain the steering wheel angle corresponding to the vehicle trajectory point;

[0012] Based on the steering wheel angle, determine the desired driving direction of the vehicle when it is located at the vehicle trajectory point;

[0013] The desired driving direction is determined as the driving direction corresponding to the vehicle trajectory point.

[0014] In one embodiment, the vehicle outer contour line includes two sets of sub-vehicle outer contour lines enclosing both sides of the vehicle; the method further includes:

[0015] In the case where there is a first outer contour line with overlapping contour lines in each group of sub-vehicle outer contour lines, the first outer contour line is divided into a preceding contour line and a subsequent contour line according to the generation order.

[0016] The overlapping portion of the preceding contour line is deleted to obtain the updated preceding contour line;

[0017] The overlapping portion of the subsequent contour line is deleted to obtain the updated subsequent contour line;

[0018] Connect the updated preceding contour line and the updated following contour line to obtain the updated first outer contour line.

[0019] In one embodiment, the step of reducing the overlapping portion of the preceding contour line to obtain the updated preceding contour line includes:

[0020] The last outer contour point of the preceding contour line is taken as the first outer contour point;

[0021] In the preceding contour line, each preceding contour point located on the preceding contour line is traversed sequentially from back to front to determine the first line segment between each preceding contour point and the first outer contour point.

[0022] If the projected length of the first line segment in the direction of the vehicle body is greater than the length of the vehicle body, then the preceding contour point is taken as the second outer contour point.

[0023] Delete other outer contour points between the first outer contour point and the second outer contour point to form the updated preceding contour line.

[0024] In one embodiment, the step of reducing the overlapping portion of the subsequent contour line to obtain the updated subsequent contour line includes:

[0025] The first outer contour point of the subsequent contour line is taken as the third outer contour point.

[0026] In the subsequent contour line, each subsequent contour point located on the subsequent contour line is traversed sequentially from front to back to determine the second line segment between each subsequent contour point and the third outer contour point.

[0027] If the projected length of the second line segment in the direction of the vehicle body is greater than the length of the vehicle body, then the subsequent contour point is taken as the fourth outer contour point.

[0028] Delete other outer contour points between the third outer contour point and the fourth outer contour point to form an updated subsequent contour line.

[0029] In one embodiment, the method further includes:

[0030] In the case of a second outer contour line with a gap in the outer contour line of each group of sub-vehicles, determine the previous outer contour point and the next outer contour point corresponding to the gap in the second outer contour line.

[0031] Connect the previous outer contour point and the next outer contour point to form the updated second outer contour line.

[0032] Secondly, this application also provides a vehicle outer contour generation device, comprising:

[0033] The parking trajectory acquisition module is used to acquire the vehicle's external dimensions and the planned parking trajectory for the vehicle when the vehicle is in automatic parking mode; the parking trajectory includes multiple vehicle trajectory points.

[0034] The vehicle outer contour point generation module is used to generate multiple vehicle outer contour points corresponding to each vehicle trajectory point under the constraint of the parking trajectory, according to the outer dimensions.

[0035] The target outer contour point determination module is used to select a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point from the plurality of vehicle outer contour points;

[0036] The vehicle outer contour line determination module is used to determine the vehicle outer contour line when the vehicle is traveling according to the parking trajectory by integrating the target outer contour points corresponding to each of the vehicle trajectory points.

[0037] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described above.

[0038] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described above.

[0039] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described above.

[0040] The aforementioned vehicle outline generation method, apparatus, computer equipment, computer-readable storage medium, and computer program product, by acquiring the vehicle's external dimensions and parking trajectory containing multiple trajectory points during automatic parking, provide a data foundation for subsequent outline generation based on the actual trajectory and real dimensions for refined calculations. For each trajectory point, multiple candidate outline points are generated according to the external dimensions under trajectory constraints. Since these candidate points comprehensively cover the geometric boundaries of the vehicle in different orientations, they can provide a complete set of spatial occupancy candidates for each trajectory position, avoiding the inherent defect of insufficient outline description by a single simplified model. Based on this, a target outline point matching the driving direction corresponding to the current trajectory point is selected from this candidate set. Since the driving direction essentially determines which side or end of the vehicle will form an outline during movement... The outermost sweep boundary ensures that the selected outer contour point for each trajectory point is always the most physically dangerous and closest to the obstacle in that pose, rather than an arbitrary or fixed offset point. By integrating the target outer contour points selected by each trajectory point to construct the entire vehicle outer contour line, each segment of the contour line originates from the optimal boundary selection under the actual driving direction. The continuous change in driving direction between the preceding and following trajectory points naturally forms a smooth transition sequence of the outer contour. Combining the above steps, the final generated outer contour line can accurately reflect the actual sweep envelope of the vehicle throughout the entire process of moving along the parking trajectory. This effectively reduces false alarms and missed alarms caused by contour estimation deviations in automatic parking safety verification, maximizes usable space while ensuring parking safety, and significantly improves the accuracy of vehicle outer contour line generation. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is an application environment diagram of a vehicle outer contour line generation method in one embodiment;

[0043] Figure 2 This is a flowchart illustrating a method for generating the outer contour of a vehicle in one embodiment;

[0044] Figure 3 This is a schematic diagram of the target outer contour points corresponding to the vehicle turning in one embodiment;

[0045] Figure 4 This is a diagram showing the relationship between the outer contour line and the target outer contour point when a vehicle is traversing an S-curve in one embodiment.

[0046] Figure 5 This is a flowchart illustrating the method for generating the vehicle's outer contour line in another embodiment;

[0047] Figure 6 This is a structural block diagram of a vehicle outer contour line generation device in one embodiment;

[0048] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The vehicle outer contour line generation method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located on the cloud or other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Specifically, during the process of generating the vehicle's outer contour line, when the vehicle is in automatic parking mode, the server 104 obtains the vehicle's external dimensions and the planned parking trajectory from the terminal 102. The parking trajectory contains multiple vehicle trajectory points. For each vehicle trajectory point, under the constraints of the parking trajectory, multiple vehicle outer contour points corresponding to the vehicle trajectory point are generated according to the external dimensions. From the multiple vehicle outer contour points, a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point is selected. By integrating the target outer contour points corresponding to each vehicle trajectory point, the vehicle's outer contour line when driving according to the parking trajectory is determined.

[0051] In one exemplary embodiment, such as Figure 2 As shown, a method for generating the outer contour of a vehicle is provided, which can be applied to... Figure 1 Taking server 104 as an example, the explanation includes the following steps S202 to S208. Wherein:

[0052] Step S202: When the vehicle is in automatic parking mode, obtain the vehicle's external dimensions and the parking trajectory planned for the vehicle.

[0053] The parking trajectory includes multiple vehicle trajectory points. Automatic parking mode refers to the operating mode where, after the vehicle's automatic parking function is activated, the onboard control system takes over the steering wheel, accelerator, brakes, and gear shifting, autonomously controlling the vehicle to complete parking maneuvers. In this mode, the vehicle relies on environmental perception sensors (such as ultrasonic radar, surround-view cameras, and millimeter-wave radar) to monitor surrounding obstacles in real time, and the parking control unit performs trajectory tracking and motion control. External dimensions refer to the vehicle's physical geometric parameters in three-dimensional space, specifically including the vehicle's overall length (horizontal distance from the frontmost point to the rearmost point), overall width (including the maximum width with the left and right rearview mirrors extended or the width of the vehicle body), overall height, wheelbase (horizontal distance from the center of the front axle to the center of the rear axle), front overhang (horizontal distance from the center of the front axle to the frontmost point), rear overhang (horizontal distance from the center of the rear axle to the rearmost point), front track, and rear track. These dimensional parameters are typically pre-stored in the vehicle parameter configuration file to characterize the vehicle's actual external boundaries. A parking trajectory refers to a continuous driving path from the current position to the target parking space, generated by the parking planning module based on the vehicle's initial pose, the target parking space location, and the distribution of surrounding obstacles, using path search or optimization algorithms. This path satisfies vehicle kinematic constraints (such as maximum steering angle and minimum turning radius), obstacle avoidance constraints, and boundary constraints, guiding the vehicle to safely complete the parking operation. For example, a parking trajectory generally refers to the trajectory of the vehicle's rear axle center point, and it includes information such as the current trajectory point position, the vehicle's gear information at the trajectory point, the heading angle of the trajectory point, and the steering wheel angle of the trajectory point. Vehicle trajectory points are a number of ordered pose points obtained by discretizing the parking trajectory at certain sampling intervals (such as equal time intervals or equal distance intervals). Each vehicle trajectory point contains the vehicle's spatial coordinates and orientation information at that location.

[0054] Specifically, after the vehicle enters automatic parking mode, the server first needs to read the current vehicle's external dimensions from the vehicle parameter storage unit. This data is the foundational input for all subsequent spatial calculations. Simultaneously, in the preceding work, a feasible parking trajectory has been planned based on the current vehicle position, target parking space information, and an obstacle map provided by the perception system. This parking trajectory is a continuous spatial curve, but since subsequent boundary point calculations need to be performed point-by-point based on discrete location points, the server discretizes this continuous trajectory according to a preset sampling strategy, extracting multiple ordered vehicle trajectory points. Each vehicle trajectory point records information including its planar coordinates and the vehicle's orientation angle at that point. Obtaining these two types of data—external dimensions and the discretized parking trajectory point sequence—is a prerequisite for this method. Only after simultaneously possessing the vehicle's physical dimensions and the location information of the path to be traveled can subsequent vehicle boundary calculations be performed for each trajectory position.

[0055] Step S204: For each vehicle trajectory point, under the constraint of the parking trajectory, generate multiple vehicle outer contour points corresponding to the vehicle trajectory point according to the external dimensions.

[0056] Among them, vehicle outer contour points refer to specific points on the actual outer boundary of the vehicle, calculated based on the vehicle's external dimensions, given the vehicle's pose (position and orientation angle). These points are located at the corners or edges of the vehicle's shape, such as the left and right corners of the front of the vehicle, the left and right corners of the rear of the vehicle, or may also include the extended ends of the rearview mirrors, etc. Together, they define the spatial occupancy range of the vehicle in that pose.

[0057] Specifically, for each vehicle trajectory point obtained in step S202, the server needs to independently calculate the specific spatial position of the vehicle's outer boundary corresponding to that point. This can be obtained using the following formula:

[0058]

[0059]

[0060]

[0061]

[0062]

[0063]

[0064]

[0065]

[0066] Where fl, fr, rl, and rr represent the front left point, front and rear points, rear left point, and rear right point, respectively; (x, y) represents the trajectory point; l represents the vehicle length; ro represents the rear overhang length; w represents the vehicle width; and θ represents the flight path angle.

[0067] Through the above processing, each vehicle trajectory point is expanded into a set of candidate outer contour points corresponding to the position and orientation of that point. These candidate points comprehensively describe the location of the vehicle's outer contour boundary in all directions under that vehicle trajectory point, providing a complete candidate pool for subsequent selection of truly effective outer contour points.

[0068] Step S206: Select a target outer contour point from multiple vehicle outer contour points that matches the driving direction corresponding to the vehicle trajectory point.

[0069] The driving direction refers to the tendency of the vehicle to continue moving along the parking trajectory at the trajectory point. This direction information can be determined by the positional relationship between the current point and the next point in the trajectory point sequence. The driving direction not only includes the forward or backward movement tendency of the vehicle, but more importantly, it includes the turning state of the vehicle at that point, i.e., whether the vehicle is going straight, turning left, or turning right. This turning state can be represented by the steering wheel angle information or trajectory curvature information carried by the trajectory point. The target outer contour point refers to the outer boundary point of the final output trajectory point selected from the multiple vehicle outer contour points generated in step S204 according to the preset point selection rules. The target outer contour point represents the outermost boundary point on the side most likely to touch the obstacle when the vehicle moves along the current driving direction in this pose, and is the core component unit for subsequently constructing the overall outer contour line.

[0070] Specifically, for each trajectory point generated in step S204, not all candidate points can be directly used to construct the final outer contour of the vehicle. This is because in actual parking, the threat of a vehicle occupying external space is asymmetrical in different driving directions—when the vehicle is going straight, all four corners are on the boundary; when turning left, the left rear corner and right front corner have the largest outward swing amplitude; and when turning right, the right rear corner and left front corner have the largest outward swing amplitude. Therefore, it is necessary to select target points that match the actual driving direction at the trajectory point from the candidate outer contour points. The determination of the driving direction is based on the motion information carried by the trajectory point itself: the server reads the steering wheel angle value or the local curvature sign of the trajectory at the current trajectory point, and determines whether the vehicle is going straight, turning left, or turning right at that point. After determining the driving direction, the server can select outer contour points according to preset corresponding rules. For example, when the absolute value of the steering wheel angle of the vehicle trajectory point is less than the preset straight-going threshold, it can be determined that the driving direction corresponding to the vehicle trajectory point is straight. During straight-line driving, all four key outer contour points are located on the outermost edge. Therefore, the selection can be based on the outer contour points chosen by the previous trajectory points. For example, if the previous vehicle trajectory point selected the front left and rear right points, then the current vehicle trajectory point will also select the front left and rear right points. If the current vehicle trajectory point is the first point in the planned trajectory, then it will default to selecting the rear left or rear right point. When the steering wheel angle at the trajectory point is greater than the preset left-turn threshold, it can be determined that the driving direction corresponding to that vehicle trajectory point is a left turn (default left positive, right negative). Figure 3 The diagram illustrates the determination of the outer contour of a vehicle continuously turning left. The rear left point and the front right point can be selected as outer contour points. When the steering wheel angle at a trajectory point is less than a preset right-turn threshold, it can be determined that the vehicle's trajectory point corresponds to a right turn. The selection method is similar to that for left turns; the front left point and the rear right point can be selected as outer contour points.

[0071] Step S208: By integrating the target outer contour points corresponding to each vehicle trajectory point, the vehicle outer contour line is determined when the vehicle is driving according to the parking trajectory.

[0072] The vehicle's outer contour line refers to the final curve or broken line formed by sequentially connecting the target outer contour points corresponding to each trajectory point. This contour line completely covers the sweep boundary of the vehicle from the starting position of parking to the ending position of the target parking space. This line represents the envelope of the spatial trajectory swept by the edge of the vehicle's shape at each moment during the entire process of the vehicle traveling according to the planned parking trajectory.

[0073] Specifically, after filtering the target outer contour points of all vehicle trajectory points, the server needs to organize the filtering results of all trajectory points into a complete and continuous spatial curve. The specific method is as follows: according to the temporal order of the parking trajectory (i.e., the direction of travel from the starting point to the ending point), the selected target outer contour points of each vehicle trajectory point are extracted sequentially, and outer contour points belonging to the same side or category are connected in series. For example, the selected left outer contour points of each trajectory point are connected sequentially to form the left outer contour line, and the right outer contour points are connected sequentially to form the right outer contour line. If necessary, the front and rear outer contour points are connected to form a complete closed-loop boundary. During the connection process, the outer contour points between adjacent trajectory points are interpolated and connected according to straight line segments, thus forming a continuous polyline that changes with the trajectory. The final output vehicle outer contour line is a boundary line that completely surrounds the entire process of vehicle movement. It describes the set of spatial positions traversed by each outer point of the vehicle's shape as the vehicle travels from the parking starting point to the parking ending point. This outer contour line can be used as input for subsequent parking safety verification. By comparing the line with the obstacle map, it can be determined whether there is a collision risk during the entire parking process, thus providing accurate geometric basis for the parking server's safety assessment.

[0074] In the aforementioned method for generating vehicle outer contours, the vehicle's external dimensions and parking trajectory containing multiple trajectory points are obtained during automatic parking. This provides a data foundation for subsequent outer contour generation based on the actual trajectory and real dimensions for refined calculations. For each trajectory point, multiple candidate outer contour points are generated according to the external dimensions under trajectory constraints. Since these candidate points comprehensively cover the geometric boundaries of the vehicle in different orientations, they provide a complete set of spatial occupancy candidates for each trajectory position, avoiding the inherent defect of insufficient description of the outer contour by a single simplified model. Based on this, a target outer contour point matching the driving direction corresponding to the current trajectory point is selected from this candidate set. Since the driving direction essentially determines which side or end of the vehicle will form the outermost swept boundary during movement, this matching... The mechanism ensures that the final selected outline point for each trajectory point is always the actual motion boundary point that is physically most dangerous and closest to the obstacle in that pose, rather than an arbitrary or fixed offset point. By integrating the target outline points selected by each trajectory point to construct the entire vehicle outline, each segment of the outline originates from the optimal boundary selection under the actual driving direction. The outline sequence between the preceding and following trajectory points naturally forms a smooth transition due to the continuous change in driving direction. Combining the above steps, the final generated outline can accurately reflect the actual sweep envelope of the vehicle during the entire process of moving along the parking trajectory. This effectively reduces false alarms and missed alarms caused by outline estimation deviations in automatic parking safety verification, maximizes usable space while ensuring parking safety, and significantly improves the accuracy of vehicle outline generation.

[0075] In an exemplary embodiment, the method further includes: obtaining the steering wheel angle corresponding to the vehicle trajectory point; determining the desired driving direction of the vehicle when it is located at the vehicle trajectory point based on the steering wheel angle; and determining the desired driving direction as the driving direction corresponding to the vehicle trajectory point.

[0076] The steering wheel angle refers to the angle through which the vehicle's steering wheel has turned relative to its center position (straight-ahead position), usually measured in degrees. A positive steering wheel angle indicates turning the steering wheel to the left, while a negative value indicates turning it to the right. The absolute value reflects the degree of steering aggression. This parameter directly determines the deflection angle of the vehicle's front wheels, thus determining the trend of the vehicle's direction of travel. The desired driving direction refers to the vehicle's intended driving tendency at the current trajectory point, inferred from the steering wheel angle information. This includes a straight-ahead, left-turn, or right-turn state. This direction characterizes the vehicle's motion trend in its current position and serves as the basis for subsequently selecting outer contour points.

[0077] Specifically, before selecting the outer contour point for each vehicle trajectory point, the server needs to determine the corresponding driving direction. To do this, the server reads the steering wheel angle information associated with the current trajectory point from the parking trajectory data. This steering wheel angle is usually calculated by the parking planning module during trajectory generation and reflects the steering input required for the vehicle to travel along the planned trajectory at that location. After obtaining the steering wheel angle value, the server performs a judgment process: when the absolute value of the steering wheel angle of the vehicle trajectory point is less than a preset straight-ahead threshold, the driving direction corresponding to that vehicle trajectory point can be determined to be straight. When the steering wheel angle of the trajectory point is greater than a preset left-turn threshold, the driving direction corresponding to that vehicle trajectory point can be determined to be left-turn (default: left positive, right negative). When the steering wheel angle of the trajectory point is less than a preset right-turn threshold, the driving direction corresponding to that vehicle trajectory point can be determined to be right-turn. After determining the driving direction corresponding to the vehicle trajectory point, the desired driving direction can be determined as the driving direction corresponding to the vehicle trajectory point.

[0078] This embodiment obtains the steering wheel angle at the vehicle trajectory point and accurately determines the vehicle's expected driving direction at that point based on the angle. This makes the determination of the driving direction have a clear physical basis and numerical operability, avoiding the ambiguity of direction caused by subjective judgment or indirect speculation, and providing accurate and reliable input conditions for the subsequent direction matching and screening of outer contour points.

[0079] In an exemplary embodiment, the vehicle outer contour line includes two sets of sub-vehicle outer contour lines that enclose both sides of the vehicle; the method further includes: when there is a first outer contour line with overlapping contour lines in each set of sub-vehicle outer contour lines, dividing the first outer contour line into a preceding contour line and a following contour line according to the generation order; performing a deletion process on the overlapping portion of the preceding contour line to obtain an updated preceding contour line; performing a deletion process on the overlapping portion of the following contour line to obtain an updated following contour line; and connecting the updated preceding contour line and the updated following contour line to obtain the updated first outer contour line.

[0080] The sub-vehicle outer contour line refers to the components of the vehicle's outer contour line after spatial orientation division. Specifically, it includes the left sub-outer contour line enclosing the left outer boundary of the vehicle and the right sub-outer contour line enclosing the right outer boundary of the vehicle. The two sub-outer contour lines together constitute the complete vehicle outer contour line, reflecting the swept boundaries of the left and right sides of the vehicle during movement. Contour line overlap refers to the phenomenon where, on the same sub-vehicle outer contour line, due to a change in the vehicle's direction of travel (such as from left turn to right turn or from right turn to left turn), the corresponding outer contour points of different segments on that sub-outer contour line partially coincide in spatial position. The overlapping portion indicates that the contour line segment has redundancy or abnormal inward contraction, requiring correction. The first outer contour line refers to the set of sub-outer contour lines detected as having contour line overlap among the two sub-vehicle outer contour lines, used to distinguish them from other normal sub-outer contour lines. The preceding contour line refers to the contour line segment located earlier (i.e., generated earlier) in the first outer contour line according to the vehicle's driving sequence along the parking trajectory. This segment corresponds to the sequence of outer contour points in an earlier time period during the vehicle's movement. The subsequent contour line refers to the contour line segment located later (i.e., generated later) in the first outer contour line, according to the vehicle's movement along the parking trajectory. This segment corresponds to the sequence of outer contour points in a later time period during the vehicle's movement.

[0081] Specifically, after filtering the target outer contour points of all trajectory points and connecting them sequentially to form a complete vehicle outer contour line, a quality check needs to be performed on the generated sub-vehicle outer contour lines on both sides. The server checks the left and right sub-outer contour lines respectively to determine whether there is any spatial overlap on each sub-outer contour line. For example... Figure 4As shown, this overlap phenomenon typically occurs when the vehicle trajectory includes S-curves or continuous reverse turns. This is because when the driving direction changes from a left turn to a right turn, the outer contour points selected from the preceding and following trajectory points belong to different corners of the vehicle, and after connection, they may intersect or overlap in the middle area. When an overlap is detected in a sub-outer contour line, the server marks this sub-outer contour line as the first outer contour line and initiates the overlap correction process. The correction process first divides the first outer contour line into a preceding contour line and a following contour line according to the generation order. The division is based on the position where the overlap occurs—the segment before the overlap point is the preceding contour line, and the segment after the overlap point (including the overlap point) is the following contour line. Subsequently, the server performs deletion processing on the overlapping parts of the preceding and following contour lines respectively, removing redundant overlapping points. After independent deletion, the preceding and following contour lines each retain the valid outer contour points in the overlapping area. The server then connects the deleted preceding and following contour lines in chronological order to form a corrected, updated first outer contour line that eliminates the overlap phenomenon. Through the above processing, the abnormal overlap caused by the steering switch was effectively eliminated, ensuring the uniqueness and rationality of the outer contour line in space.

[0082] This embodiment detects and processes overlapping phenomena on the sub-outer contour lines, divides the overlapping contours into preceding and subsequent segments, and performs deletion and correction on each segment. This effectively eliminates abnormal contour overlap caused by steering switching under complex trajectories such as S-curves, ensuring the geometric rationality of the vehicle's outer contour lines and avoiding interference from redundant points to subsequent collision detection.

[0083] In an exemplary embodiment, the overlapping portion of the preceding contour line is reduced to obtain an updated preceding contour line, including: taking the last outer contour point of the preceding contour line as the first outer contour point; traversing each preceding contour point on the preceding contour line from back to front in the preceding contour line to determine a first line segment between each preceding contour point and the first outer contour point; if the projected length of the first line segment in the vehicle body direction is greater than the vehicle body length, then taking the preceding contour point as the second outer contour point; deleting other outer contour points between the first outer contour point and the second outer contour point to form the updated preceding contour line.

[0084] Among them, the preceding contour points refer to the various outer contour points located on the preceding contour line. These points are arranged from front to back according to the generation order, forming the point sequence of the preceding contour line. Each preceding contour point corresponds to a target outer contour point selected from a vehicle trajectory point. The outer contour points refer to the discrete points that constitute the vehicle's outer contour line. Each outer contour point corresponds to a target outer contour point selected from a certain vehicle trajectory point and is the basic unit that makes up the contour line. The first outer contour point is the outer contour point located at the last position in the point sequence of the preceding contour line, that is, the point generated last according to the driving sequence, and it is also the end point of the preceding contour line. The second outer contour point is the preceding contour point determined by traversing the preceding contour line, which has a sufficient projected length in the vehicle direction to the first outer contour point at the end of the preceding contour line. This point is used as a retention point to define the boundary position in the preceding contour line that needs to be deleted and retained. The first line segment is the straight line segment formed by connecting the first outer contour point to a certain preceding contour point on the preceding contour line. This line segment is used to measure the straight-line distance relationship between the two outer contour points in space. Vehicle orientation refers to the longitudinal direction in which the vehicle faces at a corresponding trajectory point, i.e., the direction from front to rear or rear to front, specifically based on the vehicle's axis direction. In projection calculations, vehicle orientation is used to project spatial line segments onto the vehicle's longitudinal dimension to determine the magnitude of the line segment's component in that direction. Vehicle length refers to the total longitudinal length parameter in the vehicle's external dimensions, i.e., the horizontal distance from the frontmost point of the vehicle to the rearmost point, used as a threshold benchmark to determine whether the projected length is sufficient to separate overlapping portions.

[0085] Specifically, when reducing the overlapping portion of the preceding contour lines, the server needs to operate according to a specific order and judgment rules. First, the server locates the last outer contour point in the preceding contour line point sequence, taking this point as the first outer contour point. This point is the end point of the preceding contour line and also a point near the junction with the subsequent contour line. Next, starting from this first outer contour point, the server traverses each preceding contour point in the preceding contour line point sequence from back to front (i.e., from the end to the start). For each preceding contour point traversed, the server connects this point with the first outer contour point to form a first line segment, and then calculates the projected length of this first line segment in the vehicle's body direction. The vehicle's body direction is the longitudinal direction in which the vehicle is facing at this trajectory point. The server compares the calculated projected length with the known vehicle body length to determine if the projected length is greater than the vehicle body length. When the projected length is greater than the vehicle body length, it means that the preceding contour point and the first outer contour point have been separated by a sufficiently large distance in the longitudinal direction of the vehicle body, indicating that these two points belong to the effective boundaries before and after the overlapping area, rather than redundant points within the overlapping area. At this point, the server identifies the preceding contour point as the second outer contour point and stops traversing forward. After identifying the second outer contour point, the server performs a deletion operation, removing all other outer contour points in the preceding contour point sequence that lie between the first and second outer contour points, while retaining the second and first outer contour points. After deletion, the end of the preceding contour line falls directly at the second outer contour point, and there are no other intermediate points between the second and first outer contour points, thus forming an updated preceding contour line that has undergone overlap reduction processing.

[0086] This embodiment traverses the preceding contour lines from back to front and compares the projected length in the vehicle direction with the vehicle length. This allows for the accurate identification and retention of valid boundary points at both ends of the overlapping area, while deleting redundant points in the middle. This achieves precise reduction of the overlapping parts of the preceding contour lines, ensuring that the reduction process neither excessively deletes valid contour points nor misses redundant points that need to be removed.

[0087] In an exemplary embodiment, the overlapping portion of the subsequent contour line is reduced to obtain an updated subsequent contour line, including: taking the first outer contour point of the subsequent contour line as the third outer contour point; traversing each subsequent contour point on the subsequent contour line from front to back in the subsequent contour line to determine a second line segment between each subsequent contour point and the third outer contour point; if the projected length of the second line segment in the vehicle body direction is greater than the vehicle body length, then taking the subsequent contour point as the fourth outer contour point; deleting other outer contour points between the third outer contour point and the fourth outer contour point to form an updated subsequent contour line.

[0088] The term "subsequent contour point" refers to each outer contour point located on the subsequent contour line. These points are arranged from front to back according to their generation order, forming a point sequence of the subsequent contour line. Each subsequent contour point corresponds to a target outer contour point selected from vehicle trajectory points. The third outer contour point is the first outer contour point in the point sequence of the subsequent contour line, i.e., the earliest point generated according to the driving sequence, and also the starting endpoint of the subsequent contour line. The fourth outer contour point is a subsequent contour point determined by traversing the subsequent contour line, which has a sufficient projected length in the vehicle direction to the third outer contour point at the starting endpoint of the subsequent contour line. This point is used as a retention point to define the boundary positions in the subsequent contour line that need to be deleted and retained. The second line segment is a straight line segment connecting the third outer contour point to a certain subsequent contour point on the subsequent contour line. This line segment is used to measure the straight-line distance relationship between these two outer contour points in space.

[0089] Specifically, when reducing the overlapping portion of subsequent contour lines, the server employs a processing logic symmetrical to that of the preceding contour lines, but in the opposite traversal direction. The server first locates the first outer contour point in the subsequent contour line point sequence, designating it as the third outer contour point. This point is the starting endpoint of the subsequent contour line and also a point near its junction with the preceding contour line. Subsequently, starting from this third outer contour point, the server traverses each subsequent contour point in the subsequent contour line point sequence from front to back (i.e., from the starting end to the ending end). For each traversed subsequent contour point, the server connects this point with the third outer contour point to form a second line segment, and then calculates the projected length of this second line segment in the vehicle's body direction. The vehicle's body direction is also taken as the longitudinal direction of the vehicle's orientation at this trajectory point. The server compares the calculated projected length with the vehicle's body length to determine if the projected length is greater than the vehicle's body length. When the projected length is greater than the vehicle's body length, it indicates that the subsequent contour point and the third outer contour point have been sufficiently separated in the longitudinal direction of the vehicle body, suggesting that these two points belong to the effective boundaries before and after the overlapping area. At this point, the server identifies the subsequent contour point as the fourth outer contour point and stops traversing backward. After identifying the fourth outer contour point, the server performs a deletion operation, removing all other outer contour points in the subsequent contour point sequence located between the third and fourth outer contour points, while retaining the third and fourth outer contour points. After deletion, the starting point of the subsequent contour line is directly located at the third outer contour point, and there are no other intermediate points between the third and fourth outer contour points, thus forming an updated subsequent contour line after overlap reduction processing. By combining the reduction of the preceding and subsequent contour lines, valid boundary endpoints are retained at both ends of the overlapping area, and redundant intermediate points are completely removed.

[0090] This embodiment achieves precise symmetrical reduction of overlapping parts of subsequent contour lines by traversing the subsequent contour lines from front to back and comparing the projected length in the vehicle direction with the vehicle length. Combined with the reduction of preceding contour lines, it ensures that effective boundary points are retained at both ends of the overlapping area, so that the corrected contour lines are naturally connected at the overlapping point without redundancy, significantly improving the continuity and neatness of the contour lines.

[0091] In an exemplary embodiment, the method further includes: in the case that there is a gap in the second outer contour line of each group of sub-vehicles, determining the previous outer contour point and the next outer contour point corresponding to the gap in the second outer contour line; connecting the previous outer contour point and the next outer contour point to form an updated second outer contour line.

[0092] A gap refers to a discontinuity or gap in the spatial position of adjacent outer contour points on the same sub-vehicle outer contour line due to a change in vehicle direction. A gap manifests as a break or void in the contour line, meaning the segment fails to form a continuous boundary. The second outer contour line is the sub-outer contour line where a gap is detected between the two sub-vehicle outer contour lines, used to distinguish it from normal sub-outer contour lines or the first outer contour line with overlapping issues. The preceding outer contour point is the outer contour point located at the beginning of the gap in the vehicle's driving sequence before the gap location; it is the last valid outer contour point before the gap. The following outer contour point is the outer contour point located at the end of the gap in the vehicle's driving sequence after the gap location; it is the first valid outer contour point after the gap.

[0093] Specifically, during the quality inspection of the outer contour lines of the two sub-vehicles, in addition to detecting overlap, the server also needs to detect gaps on the sub-outer contour lines. The causes of gaps are similar to overlaps, primarily occurring in S-curves or continuous reverse turns—when the driving direction changes, the outer contour points selected from the preceding and following trajectory points are located at different corners of the vehicle. After connection, there may be a situation where the preceding and following outer contour points cannot connect at the turn change point, forming a blank gap without point coverage. When the server detects a gap on a sub-outer contour line, it marks that sub-outer contour line as the second outer contour line and initiates the gap correction process. The correction process first determines the specific location of the gap in the contour line point sequence, that is, finding the last outer contour point before the gap as the previous outer contour point, and finding the first outer contour point after the gap as the next outer contour point. After clarifying the outer contour points at both ends of the gap, the server performs a connection operation, directly connecting the previous and next outer contour points with a straight line segment, so that the originally broken contour line forms a continuous transition at the gap location. After the connection is completed, the gap between the previous outer contour point and the next outer contour point is filled, and the previously broken contour line becomes a complete continuous line. After the above processing, the abnormal gap caused by the turn switch is effectively filled, and the sub-outer contour line is restored to complete continuity, forming the updated second outer contour line.

[0094] This embodiment eliminates the problem of contour breakage caused by steering switching under complex trajectories in a simple and efficient way by detecting gaps on the sub-outer contour line and directly connecting the outer contour points at both ends of the gap. This ensures the continuity and integrity of the vehicle's outer contour line throughout its entire length, so that the final output outer contour line can completely cover the entire process of vehicle movement and avoids safety detection blind spots caused by missing contours.

[0095] In one specific embodiment, a method for generating the outer contour of a vehicle is also provided, comprising the following steps:

[0096] Step 1: Obtain the vehicle's parking trajectory and external dimensions;

[0097] In the intelligent parking function of an intelligent assisted driving system, the planning and control system plans the vehicle's trajectory based on the target parking space and real-time information of the surroundings. After successful planning, it outputs the vehicle's parking trajectory (usually the trajectory of the center point of the vehicle's rear axle). The trajectory includes information such as: the current position of the trajectory point, the vehicle's gear information at the trajectory point, the heading angle of the trajectory point, and the steering wheel angle at the trajectory point.

[0098] The exterior dimensions include: vehicle length, vehicle width, wheelbase, rear overhang, and front overhang.

[0099] Step 2: Define the target outer contour points;

[0100] Approximating the vehicle as a rectangular geometric shape, four key visual points are defined: the front left point, the front right point, the rear left point, and the rear right point. These four points are the four vertices of the rectangular geometric shape, which can be approximated as the outer contour points of the vehicle.

[0101] Based on the geometric relationships of the rectangle and the planned trajectory, the target outer contour point corresponding to the current vehicle trajectory point can be calculated. The calculation method is as follows:

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110] Where fl, fr, rl, and rr represent the front left point, front and rear points, rear left point, and rear right point, respectively; (x, y) represents the trajectory point; l represents the vehicle length; ro represents the rear overhang length; w represents the vehicle width; and θ represents the flight path angle.

[0111] Step 3: Generate two sets of sub-vehicle outer contour lines on the left and right sides of the vehicle based on the vehicle trajectory points and vehicle outer contour points;

[0112] Based on step two, four vehicle outer contour points can be obtained at each planned trajectory point. Then, by iteratively processing the vehicle trajectory points in the planned trajectory, the corresponding target outer contour points at each vehicle trajectory point are obtained. Connecting these points generates two sets of sub-vehicle outer contour lines on the left and right sides. The generation and connection methods differ depending on the steering wheel angle at the trajectory point and the previously selected outer contour points.

[0113] When the absolute value of the steering wheel angle at a vehicle trajectory point is less than a preset straight-ahead threshold, the driving direction corresponding to that trajectory point can be determined to be straight. During straight-ahead travel, the four outer contour key points are all located on the outermost edge; therefore, they can be selected according to the outer contour points selected by the previous trajectory point. For example, if the previous vehicle trajectory point selected the front left and rear right points, then the current vehicle trajectory point will also select the front left and rear right points. If the current vehicle trajectory point is the first point in the planned trajectory, then it will default to selecting the rear left or rear right point. When the steering wheel angle at a trajectory point is greater than a preset left-turn threshold, the driving direction corresponding to that trajectory point can be determined to be left-turn (default: left positive, right negative). Figure 3 The diagram illustrates the determination of the outer contour line for a vehicle continuously turning left. The rear left point and the front right point can be selected as outer contour points. When the steering wheel angle at a trajectory point is less than a preset right-turn threshold, the driving direction corresponding to that trajectory point can be determined to be a right turn. The selection method is similar to that for left turns, where the front left point and the rear right point can be selected as outer contour points. When the planned trajectory is an S-curve, and the steering wheel angle changes from greater than a certain threshold to less than a certain threshold or vice versa, the outer contour lines connected by the selected outer contour points will overlap and have gaps. For example, if the previously processed trajectory point selected the front right point, and the currently processed trajectory point selected the rear right point, then they will overlap. Figure 4 As shown. This situation requires separate handling.

[0114] First, let's explain how to handle missing points. When the vehicle is in forward gear, if the previously processed trajectory point was the outer contour point of the rear of the vehicle, while the current trajectory point is the outer contour point of the front of the vehicle, then points need to be added between the two points at fixed intervals. The same principle applies when the vehicle is in reverse gear.

[0115] The following explains how to handle overlapping situations. When the vehicle is in forward gear, if the previously processed trajectory point selected the front outline of the vehicle, while the current trajectory point selected the rear outline, then the previously obtained outer contour trajectory line will overlap with the current and subsequently generated ones. For example... Figure 4 As shown. At this point, it's necessary to delete the overlapping parts and then connect the generated outlines. The deletion algorithm is as follows:

[0116] First, define the vehicle body line segment of the current trajectory point. The endpoints of this line segment are the outer contour points of the front and rear of the vehicle when the vehicle is located at the current trajectory point.

[0117] For the previously generated outline, traverse the outline trajectory points backward from the last point until the line segment connecting the last point and that point projects onto the vehicle body line segment with a length greater than the vehicle body length. Once this point is found, delete all outline points from the last point to that point. For subsequently generated outlines, traverse backward in the same way, finding points whose projected length is greater than the vehicle body length, and then performing the deletion operation.

[0118] First, the server locates the last outer contour point in the preceding contour line point sequence and designates it as the first outer contour point. This point is the end point of the preceding contour line and is also near the point where it connects with the subsequent contour line. Next, starting from this first outer contour point, the server iterates through each preceding contour point in the preceding contour line point sequence from back to front (i.e., from the end to the start). For each preceding contour point encountered, the server connects this point to the first outer contour point to form a first line segment, and then calculates the projected length of this first line segment in the vehicle's body direction. The vehicle's body direction is the longitudinal direction in which the vehicle is facing at this trajectory point. The server compares the calculated projected length with the known vehicle body length to determine if the projected length is greater than the vehicle body length. When the projected length is greater than the vehicle body length, it means that the preceding contour point and the first outer contour point have been sufficiently far apart in the longitudinal direction of the vehicle body, indicating that these two points belong to the effective boundaries before and after the overlapping area, rather than redundant points within the overlapping area. At this point, the server designates this preceding contour point as the second outer contour point and stops further forward traversal. After determining the second outer contour point, the server performs a deletion operation, removing all other outer contour points in the preceding contour point sequence that lie between the first and second outer contour points, while retaining the second and first outer contour points. After deletion, the end of the preceding contour line falls directly at the second outer contour point, and there are no other intermediate points between the second and first outer contour points, thus forming an updated preceding contour line that has undergone overlap reduction processing.

[0119] First, the server locates the first outer contour point in the subsequent contour line point sequence and designates it as the third outer contour point. This point is the starting endpoint of the subsequent contour line and is also near the point where it connects with the preceding contour line. Then, starting from this third outer contour point, the server iterates through each subsequent contour point in the subsequent contour line point sequence from front to back (i.e., from the starting end to the ending end). For each traversed subsequent contour point, the server connects this point to the third outer contour point to form a second line segment, and then calculates the projected length of this second line segment in the vehicle's body direction. The vehicle's body direction is also taken as the longitudinal direction in which the vehicle is facing at this trajectory point. The server compares the calculated projected length with the vehicle's body length to determine if the projected length is greater than the vehicle's body length. When the projected length is greater than the vehicle's body length, it means that the subsequent contour point and the third outer contour point have been sufficiently far apart in the longitudinal direction of the vehicle body, indicating that these two points belong to the effective boundaries before and after the overlapping area. At this point, the server designates this subsequent contour point as the fourth outer contour point and stops continuing the traversal. After determining the fourth outer contour point, the server performs a deletion operation, removing all other outer contour points in the subsequent contour point sequence located between the third and fourth outer contour points, while retaining the third and fourth outer contour points. After deletion, the starting point of the subsequent contour line is directly located at the third outer contour point, and there are no other intermediate points between the third and fourth outer contour points, thus forming an updated subsequent contour line after overlap reduction processing. By combining the reduction of the preceding and subsequent contour lines, valid boundary endpoints are retained at both ends of the overlapping area, and redundant intermediate points are completely removed.

[0120] Finally, points are inserted at fixed intervals between the two updated preceding and following contour lines and connected, thus resolving the problem of overlapping key outer contour points in the S-curve. Based on this, the left and right outer contour trajectory data of the vehicle are obtained according to the planned path.

[0121] Step 4: Output to the vehicle's infotainment system;

[0122] The generated outline trajectory data is sent to the vehicle's graphics system and overlaid on the surround view image or bird's-eye view to present the space area that the vehicle will occupy in the future.

[0123] In a specific embodiment, such as Figure 5 As shown, a method for generating the outer contour of a vehicle is also provided, including:

[0124] Step S501: When the vehicle is in automatic parking mode, obtain the vehicle's external dimensions and the parking trajectory planned for the vehicle.

[0125] The parking trajectory includes multiple vehicle trajectory points;

[0126] Step S502: For each vehicle trajectory point, under the constraint of the parking trajectory, generate multiple vehicle outer contour points corresponding to the vehicle trajectory point according to the external dimensions.

[0127] Step S503: Obtain the steering wheel angle corresponding to the vehicle trajectory point;

[0128] Step S504: Based on the steering wheel angle, determine the desired driving direction when the vehicle is located at the vehicle trajectory point;

[0129] Step S505: Determine the desired driving direction as the driving direction corresponding to the vehicle trajectory point;

[0130] Step S506: Select a target outer contour point from multiple vehicle outer contour points that matches the driving direction corresponding to the vehicle trajectory point.

[0131] Step S507: By integrating the target outer contour points corresponding to each vehicle trajectory point, the vehicle outer contour line is determined when the vehicle is driving according to the parking trajectory.

[0132] Step S508: In the case that there is a first outer contour line with overlapping contour lines in each group of sub-vehicle outer contour lines, the first outer contour line is divided into a preceding contour line and a subsequent contour line according to the generation order.

[0133] Step S509: Take the last outer contour point of the preceding contour line as the first outer contour point.

[0134] Step S510: In the preceding contour line, traverse each preceding contour point located on the preceding contour line from back to front, and determine the first line segment between each preceding contour point and the first outer contour point.

[0135] Step S511: If the projected length of the first line segment in the vehicle body direction is greater than the vehicle body length, then the preceding contour point is taken as the second outer contour point.

[0136] Step S512: Delete other outer contour points between the first outer contour point and the second outer contour point to form the updated preceding contour line;

[0137] Step S513: Take the first outer contour point of the subsequent contour line as the third outer contour point.

[0138] Step S514: In the subsequent contour line, traverse each subsequent contour point located on the subsequent contour line from front to back, and determine the second line segment between each subsequent contour point and the third outer contour point.

[0139] Step S515: If the projected length of the second line segment in the vehicle body direction is greater than the vehicle body length, then the subsequent contour point is taken as the fourth outer contour point.

[0140] Step S516: Delete other outer contour points between the third outer contour point and the fourth outer contour point to form the updated subsequent contour line;

[0141] Step S517: Connect the updated preceding contour line and the updated following contour line to obtain the updated first outer contour line.

[0142] Step S518: In the case that there is a gap in the second outer contour line of each group of sub-vehicles, determine the previous outer contour point and the next outer contour point corresponding to the gap in the second outer contour line.

[0143] Step S519: Connect the previous outer contour point and the next outer contour point to form the updated second outer contour line.

[0144] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0145] Based on the same inventive concept, this application also provides a vehicle outer contour line generation apparatus for implementing the vehicle outer contour line generation method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more vehicle outer contour line generation apparatus embodiments provided below can be found in the limitations of the vehicle outer contour line generation method described above, and will not be repeated here.

[0146] In one exemplary embodiment, such as Figure 6 As shown, a vehicle outer contour line generation device 600 is provided, including: a parking trajectory acquisition module 602, a vehicle outer contour point generation module 604, a target outer contour point determination module 606, and a vehicle outer contour line determination module 608, wherein:

[0147] The parking trajectory acquisition module 602 is used to acquire the vehicle's external dimensions and the planned parking trajectory for the vehicle when the vehicle is in automatic parking mode; the parking trajectory contains multiple vehicle trajectory points.

[0148] The vehicle outer contour point generation module 604 is used to generate multiple vehicle outer contour points corresponding to each vehicle trajectory point according to the vehicle's external dimensions under the constraint of the parking trajectory.

[0149] The target outer contour point determination module 606 is used to select a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point from multiple vehicle outer contour points.

[0150] The vehicle outer contour line determination module 608 is used to determine the vehicle outer contour line when the vehicle is traveling according to the parking trajectory by integrating the target outer contour points corresponding to each vehicle trajectory point.

[0151] In one exemplary embodiment, the vehicle outline generation device 600 further includes a driving direction determination module, specifically used for:

[0152] Obtain the steering wheel angle corresponding to the vehicle trajectory points;

[0153] Based on the steering wheel angle, determine the desired driving direction when the vehicle is located at the vehicle trajectory point;

[0154] The desired driving direction is determined as the driving direction corresponding to the vehicle trajectory point.

[0155] In one exemplary embodiment, the vehicle outer contour line includes two sets of sub-vehicle outer contour lines enclosing both sides of the vehicle. In this embodiment, the vehicle outer contour line generation device 600 further includes a first outer contour line updating module, comprising:

[0156] The contour line division unit is used to divide the first outer contour line into a preceding contour line and a subsequent contour line according to the generation order when there is a first outer contour line with overlapping contour lines in each group of sub-vehicle outer contour lines.

[0157] The first deletion unit is used to delete the overlapping parts of the previous contour lines to obtain the updated previous contour lines.

[0158] The second deletion unit is used to delete the overlapping parts of the subsequent contour lines to obtain the updated subsequent contour lines.

[0159] The contour line connection unit is used to connect the updated preceding contour line and the updated succeeding contour line to obtain the updated first outer contour line.

[0160] In an exemplary embodiment, the first deletion unit is specifically used for:

[0161] Take the last outer contour point of the preceding contour line as the first outer contour point;

[0162] In the preceding contour line, traverse each preceding contour point located on the preceding contour line from back to front, and determine the first line segment between each preceding contour point and the first outer contour point.

[0163] If the projected length of the first line segment in the vehicle body direction is greater than the vehicle body length, then the preceding contour point is taken as the second outer contour point.

[0164] Delete other outer contour points between the first outer contour point and the second outer contour point to form the updated preceding contour line.

[0165] In one exemplary embodiment, the second deletion unit is specifically used for:

[0166] Take the first outer contour point of the subsequent contour line as the third outer contour point.

[0167] In the subsequent contour line, traverse each subsequent contour point located on the subsequent contour line from front to back, and determine the second line segment between each subsequent contour point and the third outer contour point.

[0168] If the projected length of the second line segment in the vehicle body direction is greater than the vehicle body length, then the subsequent contour point is taken as the fourth outer contour point.

[0169] Delete other outer contour points between the third and fourth outer contour points to form the updated subsequent contour lines.

[0170] In one exemplary embodiment, the vehicle outline generation device 600 further includes a notch connection module, specifically used for:

[0171] In the case of a second outer contour line with a gap in the outer contour line of each group of sub-vehicles, determine the previous outer contour point and the next outer contour point corresponding to the gap in the second outer contour line.

[0172] Connect the previous outer contour point and the next outer contour point to form the updated second outer contour line.

[0173] Each module in the aforementioned vehicle outline generation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0174] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for generating the outer contour of a vehicle. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0175] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0176] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0177] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0178] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0179] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0180] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0181] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0182] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for generating the outer contour of a vehicle, characterized in that, The method includes: When the vehicle is in automatic parking mode, the vehicle's external dimensions and the parking trajectory planned for the vehicle are obtained; the parking trajectory includes multiple vehicle trajectory points. For each vehicle trajectory point, under the constraint of the parking trajectory, multiple vehicle outer contour points corresponding to the vehicle trajectory point are generated according to the external dimensions. From the plurality of vehicle outer contour points, select a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point; By integrating the target outer contour points corresponding to each of the vehicle trajectory points, the vehicle outer contour line is determined when the vehicle is traveling according to the parking trajectory.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the steering wheel angle corresponding to the vehicle trajectory point; Based on the steering wheel angle, determine the desired driving direction of the vehicle when it is located at the vehicle trajectory point; The desired driving direction is determined as the driving direction corresponding to the vehicle trajectory point.

3. The method according to claim 1, characterized in that, The vehicle outer contour line includes two sets of sub-vehicle outer contour lines that enclose both sides of the vehicle; the method further includes: In the case where there is a first outer contour line with overlapping contour lines in each group of sub-vehicle outer contour lines, the first outer contour line is divided into a preceding contour line and a subsequent contour line according to the generation order. The overlapping portion of the preceding contour line is deleted to obtain the updated preceding contour line; The overlapping portion of the subsequent contour line is deleted to obtain the updated subsequent contour line; Connect the updated preceding contour line and the updated following contour line to obtain the updated first outer contour line.

4. The method according to claim 3, characterized in that, The step of reducing the overlapping portion of the preceding contour line to obtain the updated preceding contour line includes: The last outer contour point of the preceding contour line is taken as the first outer contour point; In the preceding contour line, each preceding contour point located on the preceding contour line is traversed sequentially from back to front to determine the first line segment between each preceding contour point and the first outer contour point. If the projected length of the first line segment in the direction of the vehicle body is greater than the length of the vehicle body, then the preceding contour point is taken as the second outer contour point. Delete other outer contour points between the first outer contour point and the second outer contour point to form the updated preceding contour line.

5. The method according to claim 3, characterized in that, The step of reducing the overlapping portion of the subsequent contour lines to obtain the updated subsequent contour lines includes: The first outer contour point of the subsequent contour line is taken as the third outer contour point. In the subsequent contour line, each subsequent contour point located on the subsequent contour line is traversed sequentially from front to back to determine the second line segment between each subsequent contour point and the third outer contour point. If the projected length of the second line segment in the direction of the vehicle body is greater than the length of the vehicle body, then the subsequent contour point is taken as the fourth outer contour point. Delete other outer contour points between the third outer contour point and the fourth outer contour point to form an updated subsequent contour line.

6. The method according to claim 3, characterized in that, The method further includes: In the case of a second outer contour line with a gap in the outer contour line of each group of sub-vehicles, determine the previous outer contour point and the next outer contour point corresponding to the gap in the second outer contour line. Connect the previous outer contour point and the next outer contour point to form the updated second outer contour line.

7. A vehicle outline generation device, characterized in that, The device includes: The parking trajectory acquisition module is used to acquire the vehicle's external dimensions and the planned parking trajectory for the vehicle when the vehicle is in automatic parking mode; the parking trajectory includes multiple vehicle trajectory points. The vehicle outer contour point generation module is used to generate multiple vehicle outer contour points corresponding to each vehicle trajectory point under the constraint of the parking trajectory, according to the outer dimensions. The target outer contour point determination module is used to select a target outer contour point that matches the driving direction corresponding to the vehicle trajectory point from the plurality of vehicle outer contour points; The vehicle outer contour line determination module is used to determine the vehicle outer contour line when the vehicle is traveling according to the parking trajectory by integrating the target outer contour points corresponding to each of the vehicle trajectory points.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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