Road passing method, electronic apparatus and vehicle

Abstract

A road passing method, comprising: acquiring the current pose and a target pose of a vehicle, the vehicle comprising a plurality of individually driven wheels; and, in the process of the vehicle moving from the current pose to the target pose, separately controlling the working condition of each wheel, such that the orientation of the vehicle reaching each path point is a passing orientation corresponding to the path point. Further disclosed is a road passing apparatus (10), comprising: an acquisition module (11) and a control module (13). Further disclosed is a nonvolatile computer-readable storage medium containing a computer program, an electronic apparatus and a vehicle (100). By means of vehicle orientation adjustments of high degrees of freedom, when arriving at each path point, vehicles are adjusted to the passing orientation corresponding to the path point. Thus, in narrow road passing environments of relatively higher degrees of narrowness and relatively higher degrees of complexity, the passing of the vehicles can still be ensured, improving the driving applicability of the vehicles.

Description

Road travel method, electronic device and vehicle

[0001] Priority information

[0002] This application claims priority and benefits of patent application number "2024102043378" filed with the State Intellectual Property Office of China on February 23, 2024, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the field of vehicle technology, and more particularly, to a road travel method, an electronic device, and a vehicle. Background Art

[0004] Currently, when a vehicle passes through a non-straight narrow road, it generally moves in the narrow road based on front-wheel steering or four-wheel steering technology.

[0005] However, when a vehicle is driven through a narrow road based on front-wheel steering or four-wheel steering technology, the area required for the vehicle to pass through is large, resulting in a limited width of the narrow road that can be passed, and the vehicle's flexibility during driving is also low. Summary of the Invention

[0006] The present invention provides a road travel method, electronic device, and vehicle. By individually controlling the working conditions of each wheel during the process of moving the vehicle from its current position to its target position, and adjusting the vehicle's posture with high degrees of freedom, the vehicle is adjusted to the corresponding travel posture at each path point upon reaching that path point, thereby improving the vehicle's driving suitability.

[0007] The road passage method of the present application includes: obtaining a current posture and a target posture of a vehicle, wherein the vehicle includes a plurality of independently driven wheels; and controlling the working conditions of each of the wheels separately during the process of the vehicle moving from the current posture to the target posture, so that the posture of the vehicle arriving at each path point is the passage posture corresponding to each path point.

[0008] In some embodiments, the method further includes: planning a passage path for moving from the current posture to the target posture; determining the passage posture of each of the path points in the passage path, wherein the distance between the vehicle and the surrounding obstacles is greater than a preset distance under the passage posture.

[0009] In some embodiments, determining the passage posture of each of the path points in the passage path includes: determining the candidate posture of the vehicle at each of the path points; and determining the passage posture of each of the candidate postures corresponding to each of the path points, the passage posture having a distance from the surrounding obstacles greater than a preset distance.

[0010] In some embodiments, the method further includes: if, among the candidate postures corresponding to any of the path points, there is no pass posture in which the distance to the surrounding obstacles is greater than a preset distance, determining that the path planning has failed and replanning the pass path; if the number of path planning failures reaches a preset number, determining that the road is impassable.

[0011] In some embodiments, the separately controlling the working conditions of each of the wheels so that the posture of the vehicle when arriving at each path point is the passage posture corresponding to each path point includes: separately controlling the working conditions of each of the wheels so that when the vehicle arrives at each path point, it translates or rotates to the passage posture corresponding to each path point.

[0012] In certain embodiments, the rotating comprises at least one of pivoting and turning with fixed wheels.

[0013] In some embodiments, the wheels include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel. When the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are operating in a first working condition, the vehicle turns in place. Under the first working condition, the left front wheel and the left rear wheel rotate in a first direction, and the right front wheel and the right rear wheel rotate in a second direction, and the first direction and the second direction are opposite; when the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are operating in a second working condition, the vehicle performs fixed-wheel steering. Under the second working condition, the target wheel is locked, and the rotation directions of the two wheels at the other end opposite to the end where the target wheel is located are opposite. The target wheel is any wheel.

[0014] In certain embodiments, in the process of separately controlling the working condition of each wheel to adjust the posture of the vehicle, the driving torque of each wheel is determined according to a preset yaw rate of the vehicle.

[0015] In some embodiments, the method further includes: obtaining obstacle information around the vehicle; determining a road section to be passed based on the obstacle information, the current posture and the target posture; if the road section to be passed is passable, issuing an inquiry message to determine whether it is passable; if it is determined to be passable, entering the step of controlling the working conditions of each wheel separately during the process of the vehicle moving from the current posture to the target posture, so that the posture of the vehicle arriving at each path point is the pass posture corresponding to each path point.

[0016] In some embodiments, the method further includes: planning and displaying multiple optional paths from the current posture to the target posture; and planning the passage posture of each path point of the selected target optional path in response to a selection operation.

[0017] In certain embodiments, the method further includes: during the parking process, displaying in real time a rotating interface of the vehicle, a moving trajectory of the vehicle, and a distance between the vehicle and surrounding obstacles.

[0018] The road passage device of the embodiment of the present application includes an acquisition module and a control module. The acquisition module is used to acquire the current posture and target posture of a vehicle, wherein the vehicle includes multiple independently driven wheels; and the control module is used to control the working conditions of each wheel during the process of the vehicle moving from the current posture to the target posture, so that the posture of the vehicle arriving at each path point is the corresponding passage posture of each path point.

[0019] The electronic device of the present application includes: a processor, which is connected to a memory; a computer program is stored in the memory, and the processor executes the computer program to implement instructions of the road passage method described in any of the above embodiments.

[0020] The vehicle according to the embodiment of the present application includes the road traffic device described in any of the above embodiments or the electronic device described in any of the above embodiments.

[0021] The computer device of an embodiment of the present application includes a processor, a memory; and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the road passage method described in any of the above embodiments.

[0022] The non-volatile computer-readable storage medium of an embodiment of the present application includes a computer program. When the computer program is executed by a processor, the processor executes the road passage method described in any of the above embodiments.

[0023] The road passage method, electronic device and vehicle of the embodiments of the present application provide data parameters for vehicle driving by obtaining the current position and target position of the vehicle. The vehicle includes multiple independently driven wheels. In the process of moving the vehicle from the current position to the target position, the working condition of each wheel is controlled separately. Through high-degree-of-freedom vehicle posture adjustment, the vehicle is adjusted to the passage posture corresponding to each path point when it reaches the path point, so that the vehicle can always maintain a safe distance from obstacles to ensure safe driving of the vehicle. When facing narrow road passage scenes with a high degree of narrowness and complexity, the vehicle can still ensure passage, thereby improving the applicability of vehicle driving, and thus enabling the vehicle to realize functions such as narrow road passage, parking, parking out and vehicle return in complex scenes (such as narrow scenes with multiple obstacles), thereby improving the user's passage experience.

[0024] Compared with the current method of controlling the vehicle through narrow roads by detecting the width of narrow roads based on front-wheel steering technology, four-wheel steering technology, etc., the vehicle can achieve a high degree of freedom in posture adjustment due to the separate control of the working conditions of each wheel. The posture of the vehicle at each path point is the corresponding passing posture. The vehicle's motion envelope during driving is smaller, which can reduce the vehicle's requirements for the road sections that can be passed and improve the applicability of vehicle driving.

[0025] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] FIG1 is a schematic diagram of an application scenario of a road passage method according to certain embodiments of the present application;

[0028] FIG2 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0029] FIG3 is a schematic diagram of a scenario of a road passage method according to certain embodiments of the present application;

[0030] FIG4 is a schematic diagram of a scenario of a road passage method according to certain embodiments of the present application;

[0031] FIG5 is a schematic diagram of a scenario of a road passage method according to certain embodiments of the present application;

[0032] FIG6 is a schematic diagram of a scenario of a road passage method according to certain embodiments of the present application;

[0033] FIG7 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0034] FIG8 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0035] FIG9 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0036] FIG10 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0037] FIG11 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0038] FIG12 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0039] FIG13 is a schematic flow chart of a road passage method according to certain embodiments of the present application;

[0040] FIG14 is a schematic diagram of a module of a road traffic device according to certain embodiments of the present application;

[0041] FIG15 is a schematic diagram of the structure of a computer device according to certain embodiments of the present application;

[0042] FIG16 is a schematic diagram illustrating a connection state between a non-volatile computer-readable storage medium and a processor according to certain embodiments of the present application. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0044] To facilitate understanding of this application, the following are explanations of the terms that appear in this application:

[0045] 1. Yaw angular velocity: The angular velocity of the vehicle around the vertical axis. The magnitude of the yaw angular velocity represents the stability of the vehicle.

[0046] 2. Fuzzy PID algorithm: PID refers to Proportion, Integral, and Differential. The fuzzy PID algorithm refers to an algorithm that uses fuzzy logic and certain fuzzy rules to optimize the PID parameters in real time. This application uses the fuzzy PID algorithm to calculate the torque required for each wheel under a preset yaw angular velocity.

[0047] Autonomous driving is a technology that uses sensors and computing technology to enable vehicles to navigate and operate autonomously without human intervention.

[0048] Autonomous vehicles (also known as self-driving automobiles), also known as driverless cars, computer-driven cars, or wheeled mobile robots, rely on artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to enable computers to automatically and safely operate motor vehicles without any active human intervention.

[0049] A vehicle's front-wheel steering technology refers to changing the vehicle's direction of travel by controlling the angle and direction of the vehicle's front wheels. Four-wheel steering technology refers to both the front and rear wheels of the vehicle participating in steering, changing the vehicle's direction of travel by controlling the angle and direction of the vehicle's front and rear wheels.

[0050] A narrow lane is a narrow passage that allows vehicles to pass through. When a vehicle passes through a narrow lane, the distance between the two sides of the vehicle and the obstacles is very small, and it is easy for the vehicle to come into contact with the obstacles, causing the vehicle to malfunction.

[0051] Currently, when a vehicle controls a narrow lane using an autonomous driving function, the lane width is typically detected. If the lane width satisfies a preset condition of being greater than the minimum passable width, the vehicle is controlled through the lane using front-wheel steering technology, four-wheel steering technology, or other means. For example, if the lane is a straight lane, the minimum passable width can be determined based on the target vehicle's width and a configured safe driving distance. If the lane is a curved lane, the minimum passable width can be determined based on the target vehicle's wheelbase, the curvature of the curve, the distance from the corner of the vehicle to the center of the front axle, the distance from the corner of the vehicle to the center of the rear axle, and the configured safe driving distance. If the lane is a corner lane, the minimum passable width can be determined based on the minimum turning radius, the minimum turning width, the angle of the lane, the width of the lane, and the difference between the turning radius of the vehicle's corner and the safe distance. The minimum turning width is determined based on the vehicle's wheelbase, the maximum steering angle of the vehicle's front wheels, the distance from the corner of the vehicle to the center of the front axle, the distance from the corner of the vehicle to the center of the rear axle, and the safe driving distance.

[0052] However, when a vehicle passes through a non-straight narrow road based on front-wheel steering or four-wheel steering technology, the vehicle turns and moves in the narrow road. The front-wheel steering or four-wheel steering technology makes the area swept by the vehicle (motion envelope) larger during the movement of the vehicle, thereby increasing the area required for driving through. As a result, the width and type of narrow roads that can be passed are limited, and the vehicle's flexibility when driving is also low.

[0053] In order to solve the above technical problems, an embodiment of the present application provides a road passage method.

[0054] The following first introduces an application scenario of the technical solution of the present application, as shown in Figure 1 . The road passage method provided by the present application can be applied to the application scenario shown in Figure 1 . The road passage method is applied to a road passage system 1000 , which includes a vehicle 100 .

[0055] The vehicle 100 is any vehicle 100 capable of autonomous driving, such as a car, a truck, etc.

[0056] The vehicle 100 includes a vehicle body 50 and a processor 30 , which is provided inside the vehicle body 50 .

[0057] In one embodiment, the vehicle 100 further includes a memory 40 , which can be used to store travel paths and movement trajectories, etc.

[0058] In one embodiment, the vehicle 100 further includes a detection device (not shown in the figure), such as a radar sensor, which is disposed on the vehicle body and is used to collect and detect information around the vehicle.

[0059] In one embodiment, the vehicle 100 further includes an image acquisition device (not shown in the figure), which is disposed on the vehicle body and is used to acquire images of the surroundings of the vehicle.

[0060] Optionally, the image acquisition device includes one or more, and the image acquisition device can be a camera, such as a visible light camera (Red-Green-Blue, RGB), a visible light depth camera (Red-Green-Blue-Depth, RGBD), an infrared camera, a thermal imaging camera, a depth camera, etc. The RGB camera and the RGBD camera can capture visible light images of the scene, the infrared camera can capture infrared images of the scene, the thermal imaging camera can capture thermal imaging images of the scene, and the depth camera can capture depth images.

[0061] In one embodiment, the road passage system 1000 further includes a server 200, and the server 200 and the vehicle 100 communicate via a network. The road passage method of the vehicle 100 can be executed locally on the vehicle 100 or in at least one of the server 200. For example, the road passage method of the vehicle 100 can be executed locally on the vehicle 100 and jointly on the server 200 to perform route planning, or the road passage method of the vehicle 100 can be executed locally on the vehicle 100 to perform route planning offline.

[0062] In one embodiment, the server 200 may be an independent physical server 200, or a server 200 cluster or distributed system composed of multiple physical servers 200, or a cloud server 200 that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This embodiment of the present application does not impose any restrictions on this.

[0063] In one embodiment, vehicle 100 may include a display screen (not shown) that can display available routes, a rotational interface of the vehicle, a movement trajectory, and distances to surrounding obstacles. The display screen may also be an interactive touch screen, allowing a user to issue control commands by touching the screen, such as issuing a selection command from available routes.

[0064] In one embodiment, the vehicle 100 and the server 200 can communicate through a network, such as the vehicle 100 and the server 200 terminal 300 can communicate wirelessly (such as wireless LAN (Wireless Fidelity, wifi) communication, Bluetooth communication, infrared communication, etc.).

[0065] It can be understood that the communication between the vehicle 100 and the server 200 is not limited to the above communication method and is not restricted thereto.

[0066] The road passage method of this application will be described in detail below:

[0067] Referring to Figures 1 and 2 , an embodiment of the present application provides a road passage method, the method comprising:

[0068] Step 011: Obtain the current posture and target posture of the vehicle, where the vehicle includes multiple independently driven wheels.

[0069] Specifically, the vehicle collects vehicle information, environmental information, and other information through radar sensors, cameras, and other means to obtain the vehicle's current position and target position. The target position can be any position that the vehicle wants to reach, such as a parking space in a parking lot, the other end of a narrow road, etc. By obtaining the vehicle's current position and target position, the road section that the vehicle needs to pass through in the process of reaching the target position from the current position can be determined. For example, by obtaining the vehicle's current position before the narrow road and the target position at the other end of the narrow road, the road section that the vehicle needs to pass through when reaching the target position from the current position can be determined; by obtaining the vehicle's current position in the parking lot and the target position of the parking space, the road section that the vehicle needs to pass through when completing parking can be determined. The vehicle includes multiple independently driven wheels, and the processor can perform different drive controls on the multiple wheels, such as applying different driving forces.

[0070] Step 012: When the vehicle moves from the current posture to the target posture, the working conditions of each wheel are controlled separately so that the posture of the vehicle when it arrives at each path point is the corresponding passage posture of each path point.

[0071] The working conditions of each wheel may be the direction and speed of rotation of each wheel; the traffic posture may be a posture in which the vehicle can maintain a safe distance from obstacles when moving from the current posture to the target posture.

[0072] Specifically, during the process of the vehicle moving from the current posture to the target posture, the vehicle's processor controls the working conditions of each wheel separately, so that the posture of the vehicle at each path point is the corresponding passage posture of each path point. The vehicle can control the vehicle to move to the path point through the processor, and then control the working conditions of each wheel at the path point, so that the vehicle's posture changes to a passage posture that can maintain a safe distance from obstacles; or the vehicle can change the current posture of the vehicle to a passage posture that can maintain a safe distance from obstacles by controlling the working conditions of each wheel separately, and then control the vehicle to move to the path point, so that during the process of the vehicle moving from the current posture to the target posture, the vehicle can always maintain a safe distance from obstacles, avoid colliding with obstacles, and ensure safe driving of the vehicle.

[0073] For example, please refer to Figures 3 and 4 to obtain the current posture and target posture of the vehicle. Assume that there is one path point (i.e., path point A) for explanation. By planning the path point A from the current posture to the target posture and planning the vehicle's passage posture A at path point A, the vehicle has a corresponding target posture when it is in the target posture. In the process of the vehicle moving from the current posture to path point A, the vehicle is controlled to move to path point A first, and then the working conditions of each wheel are controlled at path point A, such as controlling the rotation direction and rotation speed of each wheel respectively, so that the vehicle changes to the passage posture A at path point A; in the process of the vehicle moving from path point A to the target posture, the working conditions of each wheel are controlled respectively so that the vehicle changes to the target posture, and then the vehicle is controlled to move from path point A to the target posture to complete the vehicle's road passage. There are multiple.

[0074] That is to say, the vehicle changes the posture of the vehicle to the passing posture corresponding to the next path point by controlling the working condition of each wheel separately, and then moves to reach the next path point; or, the vehicle first moves to the next path point, and then changes the posture of the vehicle to the passing posture corresponding to the next path point by controlling the working condition of each wheel separately, so that the vehicle has a passing posture corresponding to the path point at each path point, so that the vehicle can always avoid colliding with obstacles in the process of moving to the target posture.

[0075] It can be understood that when a vehicle uses front-wheel steering or four-wheel steering technology to pass through a relatively crowded or complex (such as a road with many turns or a narrow section) section to be passed, the area swept by the vehicle body (vehicle motion envelope) is relatively large, so that the road section conditions that the vehicle can pass (such as road section width conditions) are relatively limited. However, the present application controls each wheel separately so that the posture of the vehicle at the path point can be converted into the corresponding passing posture with a high degree of freedom. In this process, the vehicle's motion envelope, that is, the floor space required for passing is much smaller than the floor space of front-wheel steering or four-wheel steering technology, which can reduce the floor space occupied by the vehicle movement, so that when facing a narrow and complex road section to be passed, the vehicle can still ensure passage, improve the applicability of vehicle driving, and then enable the vehicle to realize functions such as narrow road passage, parking, parking and vehicle return in complex scenes (such as narrow scenes with multiple obstacles), thereby improving the user's passage experience.

[0076] For example, refer to Figure 5. Taking the position of a vehicle in a relatively narrow environment, with the position in the parking space as the target position and the position in front of the parking space as the initial position, the vehicle needs to avoid other vehicles in the process of moving to the target position. If the vehicle is controlled to enter the target position using front-wheel steering technology or four-wheel steering technology, it will inevitably collide with surrounding vehicles. However, by finding path points and traffic postures that do not collide with surrounding vehicles, and controlling the working conditions of each wheel at each path point, the vehicle can reach the target position (parking space) at each path point. The posture is the traffic posture corresponding to each path point, and the vehicle can always avoid colliding with other vehicles and successfully complete parking.

[0077] For another example, please refer to Figure 6, which takes the vehicle in a relatively narrow environment, with the position in the parking space as the current position and the position in front of the parking space as the target position as an example. By controlling the working conditions of each wheel of the vehicle, the vehicle can move from the parking space to the front of the parking space. When reaching each path point, the posture is a pass posture, so that the vehicle can always avoid colliding with other vehicles in the process of driving out of the parking space and successfully complete parking.

[0078] In addition, after the vehicle moves to the target position, it can display the target position it has reached, such as by sending a prompt message of at least one of text, voice or picture through the vehicle's speakers, on-board display screen, or through the terminal's audio, terminal display screen, etc., to prompt the user that the vehicle has successfully reached the target position.

[0079] In this way, by obtaining the current position and target position of the vehicle, data parameters are provided for the vehicle's driving. The vehicle includes multiple independently driven wheels. In the process of moving the vehicle from the current position to the target position, the working conditions of each wheel are controlled separately. Through high-degree-of-freedom vehicle posture adjustment, the vehicle is adjusted to the traffic posture corresponding to each path point when it reaches the path point, so that the vehicle can always maintain a safe distance from obstacles to ensure safe driving of the vehicle. When facing narrow road traffic scenes with a high degree of narrowness and complexity, the vehicle can still ensure passage, thereby improving the applicability of vehicle driving, and thus enabling the vehicle to realize narrow road passage, parking in complex scenes (such as narrow scenes with multiple obstacles), parking and vehicle return, and other functions, thereby improving the user's traffic experience.

[0080] Compared with the current method of controlling the vehicle through narrow roads by detecting the width of narrow roads based on front-wheel steering technology, four-wheel steering technology, etc., the vehicle can achieve a high degree of freedom in posture adjustment due to the separate control of the working conditions of each wheel. The posture of the vehicle at each path point is the corresponding passing posture. The vehicle's motion envelope during driving is smaller, which can reduce the vehicle's requirements for the road sections that can be passed and improve the applicability of vehicle driving.

[0081] Referring to FIG. 7 , in some embodiments, the road passage method further includes:

[0082] Step 013: Plan a path from the current position to the target position;

[0083] Step 014: Determine the passing posture of each path point in the passing path. In the passing posture, the distance between the vehicle and the surrounding obstacles is greater than a preset distance.

[0084] Specifically, after obtaining the current posture and target posture, the vehicle can obtain each path point between the current posture and the target posture and the vehicle's passage posture at each path point through path planning algorithms (such as the A* algorithm) and model predictive control algorithms, plan the passage path from the current posture to the target posture, and determine the passage posture of each path point in the passage path. Based on the passage posture of the vehicle at each path point when it moves from the current posture to the target posture, the vehicle can always maintain a safe distance from obstacles on the road section between the current posture and the target posture, thereby ensuring safe driving of the vehicle.

[0085] Referring to FIG. 8 , in some embodiments, step 014 : determining the passing posture of each path point in the passing path includes:

[0086] Step 0141: Determine the candidate postures of the vehicle at each path point;

[0087] Step 0142: Determine the passing postures corresponding to the various candidate postures for each path point, the passing postures having a distance from the surrounding obstacles greater than a preset distance.

[0088] Among them, the preset distance can be based on at least one of the actual situation of the vehicle (such as vehicle body width, etc.), calculation error during planning and safe driving distance, etc. The preset distance set to ensure the safe driving of the vehicle can be 15mm, 20 millimeters (mm), 25mm, 30mm and other preset distances, which are not listed here one by one; the selected posture can be the posture that the vehicle can achieve when controlling the working conditions of each wheel separately and controlling the normal driving of the vehicle (such as front-wheel steering, four-wheel steering driving).

[0089] Specifically, information about the vehicle's surrounding environment can be collected through sensors (such as radar sensors, camera sensors, etc.), and environmental data such as the position, shape, and distance between obstacles and the vehicle from the current posture to the target posture can be obtained. Then, the various candidate postures of the vehicle at various path points can be determined, and the distance between each candidate posture and the surrounding obstacles can be judged through the environmental data. Among the various candidate postures, the posture with a distance to the surrounding obstacles greater than a preset distance is determined to be a pass posture.

[0090] Referring to FIG. 9 , in some embodiments, the road passage method further includes:

[0091] Step 015: If there is no passing posture in each candidate posture corresponding to any path point where the distance to the surrounding obstacles is greater than a preset distance, it is determined that the path planning has failed, and the passing path is replanned;

[0092] Step 016: When the number of path planning failures reaches a preset number, it is determined that the road is impassable.

[0093] The preset number of times may be a preset threshold value of the number of times the vehicle attempts to plan a passage posture for each path point from the current posture to the target posture, such as 10 times, 20 times, 30 times, or any other number.

[0094] Specifically, when there is a pass posture for any path point among the various candidate postures corresponding to any path point, it is determined that the path planning is successful, and the working conditions of each wheel are controlled separately so that the posture of the vehicle when it arrives at each path point is the pass posture corresponding to each path point; when there is no pass posture with a distance from the surrounding obstacles greater than a preset distance among the various candidate postures corresponding to any path point, that is, when there is no pass posture for any path point, it is determined that all path planning passing through the path point has failed, and the pass path is replanned. When the number of path planning failures reaches a preset number, it is determined that the road is impassable. In this way, the path planning capability and safety of the vehicle in complex environments are improved, ensuring that the vehicle can effectively avoid obstacles and reach the target posture during the passage process.

[0095] Referring to FIG. 10 , in certain embodiments, step 012 : controlling the working conditions of each wheel separately so that the posture of the vehicle arriving at each path point is the corresponding passing posture of each path point, including:

[0096] Step 0121: Control the working conditions of each wheel separately so that when the vehicle reaches each path point, it translates or rotates to the corresponding passage posture of each path point.

[0097] Specifically, the processor controls the working conditions of each wheel separately, so that when the vehicle reaches each path point, the vehicle's posture is made to be the passing posture corresponding to the path point through translation, such as through differential control (controlling the speed difference between the wheels on the left and the wheels on the right of the vehicle) so that the vehicle can move sideways to the passing posture corresponding to the path point; the vehicle is made to yaw through rotation, such as by controlling the turning angle of each wheel separately, so that the vehicle rotates to the passing posture corresponding to the path point.

[0098] Optionally, the rotation includes at least one of in-place turning and fixed-wheel turning.

[0099] Specifically, the on-the-spot steering can be the center of the vehicle. For example, when the vehicle includes four wheels, in order to perform a yaw rotation around the center of the four wheels, the fixed-wheel steering can be to lock any wheel of the vehicle through the corresponding tire brake to control the wheel, and the vehicle performs a yaw rotation with the wheel as the center.

[0100] Optionally, the wheels include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel. When the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are operating in a first working condition, the vehicle turns in place. Under the first working condition, the left front wheel and the left rear wheel rotate in a first direction, and the right front wheel and the right rear wheel rotate in a second direction, and the first direction and the second direction are opposite; when the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are operating in a second working condition, the vehicle performs fixed-wheel steering. Under the second working condition, the target wheel is locked, and the two wheels at the other end opposite to the end where the target wheel is located rotate in opposite directions. The target wheel is any wheel.

[0101] Specifically, the vehicle includes four independently driven wheels, namely the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. The target wheel is any one of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. When the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are driven to operate in a first operating condition, the vehicle steers in place. In the first operating condition, the left front wheel and the left rear wheel are driven to rotate in a first direction, and the right front wheel and the right rear wheel are driven in a second direction opposite to the first direction, so that the vehicle steers in place about the center of the four wheels.

[0102] When the left front wheel, right front wheel, left rear wheel and right rear wheel are driven to work in the second working condition, the vehicle has fixed-wheel steering. In the second working condition, the target wheel is locked by controlling the tire brake caliper, and then the two wheels at the other end opposite to the end where the target wheel is located are driven to rotate in relatively opposite directions. The other wheel at the end where the target wheel is located is in a driven state following the movement of the vehicle, so that the vehicle has fixed-wheel steering when working in the second working condition.

[0103] For example, taking the target wheel as the left front wheel, the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle are driven to rotate clockwise or counterclockwise as an example. In the first working condition, the left front wheel and left rear wheel of the vehicle are driven to rotate clockwise, and the right front wheel and right rear wheel are driven to rotate counterclockwise, so that the vehicle turns in place around the center of the four wheels; in the second working condition, the left front wheel is locked, the left rear wheel is driven to rotate clockwise, and the right rear wheel is driven to rotate counterclockwise, so that the vehicle can rotate clockwise around the left front wheel.

[0104] Optionally, in the process of separately controlling the working condition of each wheel to adjust the posture of the vehicle, the driving torque of each wheel is determined according to a preset yaw angular velocity of the vehicle.

[0105] Specifically, the vehicle can obtain its yaw rate through, for example, an inertial sensor. When individually controlling the operating conditions of each wheel to adjust the vehicle's posture, a preset yaw rate is used to ensure that the vehicle's yaw rate during pivoting or wheel-steering meets the required yaw rate requirement. This reduces vehicle operation time and achieves precise control while ensuring vehicle safety and stability. For example, a fuzzy PID algorithm can be used to input the preset yaw rate, optimize and calculate the required driving torque for each wheel in real time, and then, based on the calculated result, apply the corresponding driving torque to each wheel. This ensures that the resulting torque from each driving torque can drive the vehicle to pivot around the center of the four wheels, meeting the preset yaw rate requirement; or, alternatively, the resulting torque from each driving torque can drive the vehicle to wheel-steering around a target wheel, meeting the preset yaw rate requirement.

[0106] For example, consider a scenario where the vehicle needs to maintain a preset yaw rate while steering the left front wheel. Using the fuzzy PID algorithm, the preset yaw rate is input and the corresponding driving torques for the left and right rear wheels are calculated. For example, when the vehicle begins to turn, because the yaw rate is less than the target yaw rate, the driving torque for the left wheel is increased and the driving torque for the right wheel is reduced. This allows the vehicle to achieve the preset yaw rate while yaw-rotating around the left front wheel. This reduces operating time and enables precise vehicle control while ensuring safety and stability.

[0107] It should be pointed out that before the vehicle performs on-the-spot turning or fixed-wheel turning, in order to ensure safety, the vehicle's steering function needs to be turned off first, such as by locking the steering motor of the steering wheel. This will cause the vehicle to rotate and move in a manner that does not meet the traffic posture due to the action of the resultant torque, thereby improving the safety of vehicle driving and passage.

[0108] Referring to FIG. 11 , in some embodiments, the road passage method further includes:

[0109] Step 017: Obtain obstacle information around the vehicle;

[0110] Step 018: Determine the road section to be passed based on the obstacle information, current posture and target posture;

[0111] Step 019: Determine whether the road section to be passed is passable;

[0112] Step 020: If yes, a query message is sent to determine whether the vehicle can pass; if yes, the process of controlling the working conditions of each wheel separately during the process of the vehicle moving from the current posture to the target posture is carried out so that the posture of the vehicle when it arrives at each path point is the corresponding passing posture of each path point.

[0113] Specifically, the vehicle's sensors can be used to obtain obstacle information around the vehicle, and then based on the obstacle information, the current position and the target position, the section of road to be passed by the vehicle can be determined in the process of reaching the target position from the current position. In the section of road to be passed, the vehicle can avoid obstacles or maintain a safe driving distance from obstacles. The safe driving distance can be the preset distance as described above; and then, when it is determined that the section of road to be passed is passable, an inquiry message is sent to the user as to whether the passage is allowed. For example, the vehicle determines the outline of the road section to be passed based on obstacle information, current posture and target posture, and then compares the outline with the envelope size when the vehicle itself performs at least one action transformation, such as movement, on-the-spot turning, fixed-wheel turning, etc. When there is an area in the outline of the road section to be passed that cannot accommodate the envelope size, the road section to be passed is judged to be impassable; otherwise, it is judged to be passable, and an inquiry message is sent through the vehicle's display screen, speaker, etc. to determine whether the road section to be passed is passable. When an affirmative instruction is received from the user, the vehicle enters the step of controlling the working condition of each wheel separately during the process of moving from the current posture to the target posture, so that the posture of the vehicle when arriving at each path point is the pass posture corresponding to each path point.

[0114] For example, please refer to Figure 4. In the current position, the vehicle collects and obtains the surrounding obstacle information through sensors and displays it on the vehicle's display screen. Based on the obstacle information, the current position and the target position, the vehicle determines the road section to be passed and judges whether the road section to be passed is passable. When it is determined that it is passable, the vehicle displays an inquiry message to ask the user whether to pass. After obtaining the inquiry message, the user can interact with the vehicle by manually clicking the road passage start switch set on the vehicle or clicking the inquiry message displayed on the display screen. When the vehicle obtains the instruction to pass the road section to be passed, the vehicle enters the step of controlling the working condition of each wheel separately in the process of moving the vehicle from the current position to the target position, so that the posture of the vehicle when arriving at each path point is the passage posture corresponding to each path point.

[0115] Referring to FIG. 12 , in some embodiments, the road passage method further includes:

[0116] Step 021: Plan multiple optional paths from the current pose to the target pose and display them;

[0117] Step 022: In response to the selection operation, plan the passage posture of each path point of the selected target optional path.

[0118] Specifically, after the vehicle plans the passage posture of each path point from the current position to the target position, multiple path points are connected to obtain multiple optional paths that can enable the vehicle to reach the target position from the current position, and the multiple optional paths are displayed on the vehicle's display screen; the user can select from the multiple optional paths and interact with the vehicle, and the vehicle responds to the selection operation to plan the passage posture of each path point of the target optional path selected by the user.

[0119] For example, please refer to Figure 4 again, continuing with the previous example, the vehicle displays multiple optional paths through the vehicle's display screen. When displaying, the vehicle's traffic posture at each path point in the optional path can also be displayed; the user can select from the optional paths and issue a selection instruction to the vehicle through the interactive display screen. The selection instruction may include the optional path selected by the user and may also include determining to execute the optional path; the vehicle plans the traffic posture of each path point of the selected target optional path in response to the selection operation.

[0120] Referring to FIG. 13 , in some embodiments, the road passage method further includes:

[0121] Step 023: During the parking process, the vehicle's rotation interface, the vehicle's moving trajectory, and the distance between the vehicle and surrounding obstacles are displayed in real time.

[0122] The rotation interface may be a rotation interface in which the vehicle performs in-situ rotation or fixed wheel rotation.

[0123] During the parking process, the vehicle's rotation interface, vehicle movement trajectory and the distance between the vehicle and surrounding obstacles are displayed in real time through the vehicle's display screen. The vehicle also records the movement trajectory, allowing users to not only understand the vehicle's status, but also use the recorded parking movement trajectory as an information reference when the vehicle is parked out of the parking space, thereby improving the accuracy and planning efficiency of the vehicle's planning of the passage posture of each path point.

[0124] Referring to FIG. 14 , to facilitate the implementation of the road passage method according to an embodiment of the present application, an embodiment of the present application further provides a road passage device 10. The road passage device 10 may include an acquisition module 11 and a control module 13. The acquisition module 11 is configured to acquire the current and target positions of a vehicle, wherein the vehicle includes multiple independently driven wheels. The control module 13 is configured to control the operating conditions of each wheel during the process of the vehicle moving from the current position to the target position, so that the vehicle arrives at each path point in the corresponding pass position.

[0125] In one embodiment, the road passage device also includes a planning module 12, which is used to plan a passage path from the current posture to the target posture; determine the passage posture of each path point in the passage path, and under the passage posture, the distance between the vehicle and the surrounding obstacles is greater than a preset distance.

[0126] In one embodiment, the planning module 12 is further configured to determine a candidate posture of the vehicle at each path point, and to determine a passing posture in which the distance between the vehicle and surrounding obstacles is greater than a preset distance among the candidate postures corresponding to each path point.

[0127] In one embodiment, the planning module 12 is further used to determine that the path planning has failed and re-plan the pass path when there is no pass posture with a distance from the surrounding obstacles greater than a preset distance among the candidate postures corresponding to any path point, and to determine that the road is impassable when the number of path planning failures reaches a preset number.

[0128] In one embodiment, the control module 13 is further configured to control the working conditions of each wheel separately, so that when the vehicle reaches each path point, it translates or rotates to a passing posture corresponding to each path point.

[0129] In one embodiment, the road passage device 10 also includes a judgment module 14, which is used to obtain obstacle information around the vehicle; determine the road section to be passed based on the obstacle information, the current posture and the target posture; if the road section to be passed is passable, send an inquiry message to determine whether it is passable; if it is determined to be passable, enter the step of controlling the working conditions of each wheel separately during the process of the vehicle moving from the current posture to the target posture, so that the posture of the vehicle when arriving at each path point is the pass posture corresponding to each path point.

[0130] In one embodiment, the road passage device 10 further includes a response module 15, which is used to plan multiple optional paths from the current posture to the target posture and display and respond to the selection operation to plan the passage posture of each path point of the selected target optional path.

[0131] In one embodiment, the road traffic device 10 further includes a display module 16 , which is configured to display the vehicle's rotation interface, the vehicle's movement trajectory, and the distance between the vehicle and surrounding obstacles in real time during parking.

[0132] The above description of the road traffic device 10 from the perspective of functional modules in conjunction with the accompanying drawings can be implemented in the form of hardware, or in the form of software instructions, or in the form of a combination of hardware and software modules. Specifically, the steps of the method embodiments in the embodiments of the present application can be completed by the hardware integrated logic circuit and / or software instructions in the processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware coding processor, or by a combination of hardware and software modules in the coding processor. Optionally, the software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiments in conjunction with its hardware.

[0133] The electronic device of the embodiment of the present application includes a processor, which is connected to a memory. The memory stores a computer program. The processor executes the computer program to implement any one of the road passage methods described above. For the sake of brevity, it will not be repeated here.

[0134] The electronic device may serve as a processor of the vehicle, and the electronic device may be installed in the vehicle so that the vehicle can implement the road passage method of any of the above-mentioned embodiments through the electronic device.

[0135] Referring again to FIG1 , the vehicle 100 of the present embodiment includes the road passage device or electronic device of the above embodiment, such as the road passage device or electronic device being the processor 30 of the vehicle 100. The vehicle 100 implements any of the above road passage methods through the road passage device or electronic device.

[0136] Please refer to Figure 15. The computer device of an embodiment of the present application includes a processor 402, a memory 403 and a computer program, wherein the computer program is stored in the memory 403 and executed by the processor 402, and the computer program includes instructions for executing the road passage method of any of the above embodiments.

[0137] In one embodiment, the computer device may be a terminal 400 or a vehicle 100. Its internal structure may be shown in Figure 12. The computer device includes a processor 402, a memory 403, a network interface 404, a display screen 401, and an input device 405 connected via a system bus.

[0138] Among them, the processor 402 of the computer device is used to provide computing and control capabilities. The memory 403 of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface 404 of the computer device is used to communicate with external devices through a network connection. When the computer program is executed by the processor, it implements the road traffic method and display method of any of the above-mentioned embodiments. The display screen 401 of the computer device can be a liquid crystal display or an electronic ink display screen, and the input device 405 of the computer device can be a touch layer covering the display screen 401, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0139] Those skilled in the art will understand that the structure shown in FIG12 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] Please refer to Figure 13. The embodiment of the present application also provides a computer-readable storage medium 600, on which a computer program 610 is stored. When the computer program 610 is executed by the processor 620, the steps of the road passage method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0141] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0142] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0143] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A road travel method, wherein: include: Obtaining a current pose and a target pose of a vehicle, wherein the vehicle includes a plurality of independently driven wheels; During the process of the vehicle moving from the current posture to the target posture, the working conditions of the wheels are controlled respectively so that the postures of the vehicle arriving at each path point are the passing postures corresponding to each path point.

2. The road passage method according to claim 1, wherein: The method further comprises: Planning a path from the current position to the target position; Determine a passing posture of each of the path points in the passing path, wherein the distance between the vehicle and surrounding obstacles is greater than a preset distance under the passing posture.

3. The road passage method according to claim 2, wherein: The determining of the passing posture of each of the path points in the passing path includes: Determining a candidate posture of the vehicle at each of the path points; Determine the passing posture in which the distance between the passing posture and the surrounding obstacles is greater than a preset distance among the candidate postures corresponding to the path points.

4. The road passage method according to claim 3, wherein: The method further comprises: If, among the candidate postures corresponding to any of the path points, there is no passing posture whose distance to surrounding obstacles is greater than a preset distance, it is determined that the path planning has failed, and the passing path is replanned; If the number of path planning failures reaches a preset number, the road is determined to be impassable.

5. The road passage method according to claim 1, wherein: The separately controlling the working conditions of the wheels so that the posture of the vehicle arriving at each path point is the passing posture corresponding to each path point includes: The working conditions of each wheel are controlled separately so that when the vehicle reaches each path point, it translates or rotates to the passage posture corresponding to each path point.

6. The road passage method according to claim 5, wherein: The rotation includes at least one of in-situ turning and fixed-wheel turning.

7. The road passage method according to claim 4, wherein: The wheels include a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. When the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel operate in a first working condition, the vehicle turns in situ. In the first working condition, the left front wheel and the left rear wheel rotate in a first direction, and the right front wheel and the right rear wheel rotate in a second direction, and the first direction and the second direction are opposite; When the left front wheel, right front wheel, left rear wheel and right rear wheel operate in the second working condition, the vehicle is fixed-wheel steering. Under the second working condition, the target wheel is locked, and the rotation directions of the two wheels at the other end opposite to the end where the target wheel is located are opposite. The target wheel is any wheel.

8. The road passage method according to claim 1, wherein: In the process of controlling the working condition of each wheel separately to adjust the posture of the vehicle, the driving torque of each wheel is determined according to a preset yaw angular velocity of the vehicle.

9. The road passage method according to claim 1, wherein: The method further comprises: Obtaining obstacle information around the vehicle; Determining a road section to be passed based on the obstacle information, the current posture, and the target posture; If the road section to be passed is passable, a query message is sent to determine whether it is passable; If passage is determined, the process enters the step of controlling the working conditions of each wheel separately during the process of the vehicle moving from the current posture to the target posture, so that the posture of the vehicle arriving at each path point is the passage posture corresponding to each path point.

10. The road passage method according to claim 1, wherein: The method further comprises: Planning and displaying multiple optional paths from the current posture to the target posture; In response to the selection operation, the passage posture of each path point of the selected target optional path is planned.

11. The road passage method according to claim 1, wherein: The method further comprises: During parking, the vehicle's rotation interface, the vehicle's movement trajectory, and the distance between the vehicle and surrounding obstacles are displayed in real time.

12. The road traffic device (10) according to claim 1, wherein: include: An acquisition module (11) is used to acquire a current posture and a target posture of a vehicle, wherein the vehicle includes a plurality of independently driven wheels; A control module (13) is used to control the working conditions of each wheel when the vehicle moves from the current posture to the target posture, so that the posture of the vehicle arriving at each path point is the corresponding passage posture of each path point.

13. A non-volatile computer-readable storage medium containing a computer program according to claim 1, wherein: When the computer program is executed by a processor, the processor executes the road passage method according to any one of claims 1 to 11.

14. An electronic device, wherein: include: a processor connected to the memory; The memory stores a computer program, and the processor executes the computer program to implement instructions of the road passage method according to any one of claims 1 to 11.

15. A vehicle (100), wherein: include: The road traffic device (10) according to claim 12 or the electronic device according to claim 14.

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