Vehicle path backtracking control method and apparatus, vehicle and storage medium

Abstract

The present application relates to the technical field of vehicles, and in particular relates to a vehicle path backtracking control method and apparatus, a vehicle and a storage medium. The method comprises: determining whether a path backtracking instruction has been received; if a path backtracking instruction has been received, acquiring a current path tracking strategy, a current memorized path and an obstacle map corresponding to the current memorized path, and, when the current memorized path meets a preset optimization condition, optimizing the current memorized path on the basis of the obstacle map, so as to obtain a target path; and controlling the vehicle on the basis of the current path tracking strategy and the target path until the vehicle reaches the endpoint of the target path. Thus, the present application solves the problem that accidents such as vehicle scraping are likely to happen in complex and harsh environments due to a path backtracking function of vehicles, effectively relieving the psychological stress that drivers experience when reversing vehicles in narrow road sections, greatly improving the vehicle reversing efficiency for drivers, and enhancing the driving experience of drivers.

Description

Vehicle original route return control method and device, vehicle, and storage medium

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No. 202410622106.9, filed on May 20, 2024, and claims priority to the Chinese patent application, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicles, in particular to a vehicle original route return control method and device, a vehicle, and a storage medium. BACKGROUND

[0004] When a driver backs up in a driving environment with harsh working conditions, the driver may experience great psychological pressure due to the complex driving environment, and the driver's driving skills may be affected, causing the driver to be negligent and scratch the vehicle, affecting the efficiency of backing up. Auxiliary driving devices such as panoramic images and reversing radars may improve the efficiency of the driver backing up to some extent, but they cannot completely avoid the occurrence of vehicle scratching accidents, and the driver still needs to actively control the steering wheel and brake pedal and pay close attention to the surrounding situation throughout the entire process.

[0005] In related technologies, the forward trajectory of a target vehicle is recorded, the target vehicle is controlled to back up from the current position, and at each backing-up time, the steering wheel angle of the target vehicle is corrected to make the target vehicle return along the original route of the forward trajectory.

[0006] The scheme in related technologies can make the vehicle return along the original route of the recorded trajectory, but the recorded path has many unreasonable aspects in most scenarios, such as unnecessary turns, and the above scheme does not optimize the recorded path. In addition, the above scheme does not handle the case where the driving environment changes (obstacles such as vehicles and pedestrians move to change the obstacle information), so it has great limitations.

[0007] SUMMARY

[0008] The present application provides a vehicle original route return control method and device, a vehicle, and a storage medium to solve the problem that the vehicle original route return function is prone to accidents such as vehicle scratching in a complex and harsh environment, effectively reduces the psychological pressure of the driver when backing up in a narrow section, greatly improves the efficiency of the driver backing up, and increases the driving experience of the driver.

[0009] The first aspect embodiment of the present application provides a vehicle original route return control method, including the following steps:

[0010] determining whether a return-to-original-route instruction is received;

[0011] if the original route returning instruction is received, obtaining a current path tracking strategy, a current memory path and an obstacle map corresponding to the current memory path, and optimizing the current memory path according to the obstacle map to obtain a target path when the current memory path meets a preset optimization condition;

[0012] controlling the vehicle according to the current path tracking strategy and the target path until the vehicle reaches an end point of the target path.

[0013] Optionally, in some embodiments, the optimizing the current memory path according to the obstacle map to obtain the target path comprises:

[0014] obtaining a maximum curvature of the vehicle;

[0015] taking the current memory path as a reference line of the target path, and obtaining the target path according to the maximum curvature, the reference line and the obstacle map corresponding to the current memory path by using a preset optimization algorithm.

[0016] Optionally, in some embodiments, the obtaining the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path further comprises:

[0017] obtaining a current gear of the vehicle, and judging whether the current memory path exceeds a first preset threshold when the current gear is a forward gear;

[0018] if the current memory path exceeds the first preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a first updating strategy;

[0019] obtaining a driving path of the vehicle when the current gear is a reverse gear, and judging whether a difference between the current memory path and the driving path exceeds a second preset threshold;

[0020] if the difference between the current memory path and the driving path exceeds the second preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a second updating strategy, otherwise updating the current memory path and the obstacle map corresponding to the current memory path based on a third updating strategy.

[0021] Optionally, in some embodiments, the controlling the vehicle according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path further comprises:

[0022] obtaining current obstacle information of the vehicle;

[0023] determining a distance between the vehicle and the obstacle according to the current obstacle information, and determining whether the distance is less than a third preset threshold and whether a duration that the distance is less than the third preset threshold exceeds a preset duration;

[0024] If the distance is less than the third preset threshold and the duration that the distance is less than the third preset threshold does not exceed the preset duration, it is determined whether a path re-planning instruction is received.

[0025] If the path re-planning instruction is received, the target path is updated based on the current obstacle information, and if the path re-planning instruction is not received, the vehicle is controlled to exit the original route return control.

[0026] Optionally, in some embodiments, the determination of whether the distance is less than the third preset threshold and whether the duration that the distance is less than the third preset threshold exceeds the preset duration further comprises:

[0027] If the distance is greater than the third preset threshold and the duration that the distance is greater than the third preset threshold does not exceed the preset duration, it is determined whether the original route return instruction is received.

[0028] If the original route return instruction is not received, the current gear of the vehicle is controlled to be a parking gear and the original route return control is exited, and if the original route return instruction is received, the vehicle is controlled to reach an end point of the target path.

[0029] Optionally, in some embodiments, after the original route return instruction is received, the method further comprises:

[0030] obtaining a current speed of the vehicle, and determining whether the vehicle satisfies a preset path memory condition according to the current speed;

[0031] If the vehicle does not satisfy the preset path memory condition, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path do not need to be obtained.

[0032] The second aspect embodiment of the application provides a vehicle original route return control device, comprising:

[0033] a determination module configured to determine whether an original route return instruction is received;

[0034] an optimization module configured to, in a case where the original route return instruction is received, obtain a current path tracking strategy, a current memory path and an obstacle map corresponding to the current memory path, and in a case where the current memory path satisfies a preset optimization condition, optimize the current memory path to obtain a target path according to the obstacle map.

[0035] a control module, configured to control the vehicle according to the current path tracking strategy and the target path until the vehicle reaches an end point of the target path.

[0036] Optionally, in some embodiments, the optimization module is specifically configured to:

[0037] obtain a maximum curvature of the vehicle;

[0038] take the current memory path as a reference line of the target path, and obtain the target path by using a preset optimization algorithm according to the maximum curvature, the reference line and an obstacle map corresponding to the current memory path.

[0039] Optionally, in some embodiments, the optimization module is further configured to:

[0040] obtain a current gear of the vehicle, and determine whether the current memory path exceeds a first preset threshold when the current gear is a forward gear;

[0041] update the current memory path and the obstacle map corresponding to the current memory path based on a first updating strategy when the current memory path exceeds the first preset threshold;

[0042] obtain a driving path of the vehicle, and determine whether a difference between the current memory path and the driving path exceeds a second preset threshold when the current gear is a reverse gear;

[0043] update the current memory path and the obstacle map corresponding to the current memory path based on a second updating strategy when the difference between the current memory path and the driving path exceeds the second preset threshold, or update the current memory path and the obstacle map corresponding to the current memory path based on a third updating strategy when the difference between the current memory path and the driving path does not exceed the second preset threshold.

[0044] Optionally, in some embodiments, the control module is further configured to:

[0045] obtain current obstacle information of the vehicle;

[0046] determine a distance between the vehicle and an obstacle according to the current obstacle information, and determine whether the distance is less than a third preset threshold and whether a duration for which the distance is less than the third preset threshold exceeds a preset duration;

[0047] determine whether a path re-planning instruction is received when the distance is less than the third preset threshold and the duration for which the distance is less than the third preset threshold does not exceed the preset duration;

[0048] In a case where the instruction of replanning the path is received, the target path is updated based on the current obstacle information, and in a case where the instruction of replanning the path is not received, the vehicle is controlled to exit the original route return control.

[0049] Optionally, in some embodiments, the control module is further configured to:

[0050] In a case where the distance is greater than the third preset threshold and a duration for which the distance is greater than the third preset threshold does not exceed the preset duration, it is determined whether the original route return instruction is received;

[0051] In a case where the original route return instruction is not received, the current gear of the vehicle is controlled to be a parking gear, and the original route return control is exited, and in a case where the original route return instruction is received, the vehicle is controlled to reach an end point of the target path.

[0052] Optionally, in some embodiments, after the original route return instruction is received, the optimization module is further configured to:

[0053] A current speed of the vehicle is obtained, and it is determined whether the vehicle satisfies a preset path memory condition according to the current speed;

[0054] In a case where the vehicle does not satisfy the preset path memory condition, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path do not need to be obtained.

[0055] The third aspect of the present application provides a vehicle, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the vehicle original route return control method as described in the above embodiments.

[0056] The fourth aspect of the present application provides a computer readable storage medium having a computer program stored thereon, and the program is executed by a processor to implement the vehicle original route return control method as described in the above embodiments.

[0057] Therefore, in a case where the current vehicle satisfies the path memory, the obstacle maps corresponding to the memory path and the current memory path are tracked in real time, in a case where the current memory path satisfies the preset optimization condition, the target path is obtained according to the obstacle maps and the optimization of the current memory path, and the current vehicle is controlled according to the path tracking mode customized by the user and the target path until the current vehicle reaches the end point of the target path. Therefore, the problem that the original route return function of the vehicle in a complex and harsh environment is prone to cause vehicle scratching and other accidents is solved, the psychological pressure of the driver in a narrow road section is effectively reduced when reversing, the efficiency of the driver when reversing is greatly improved, and the driving experience of the driver is increased.

[0058] Additional aspects and advantages of the present application will be made apparent from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0059] The above and / or additional aspects and advantages of the present application will become apparent and be more readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0060] The above and / or additional aspects and advantages of the present application will become apparent and be more readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0061] Fig. 1 is a flow chart of a vehicle original route returning control method according to an embodiment of the present application;

[0062] Fig. 2 is a schematic diagram of an original route returning system according to one specific embodiment of the present application;

[0063] Fig. 3 is a schematic diagram of a vehicle coordinate system according to one specific embodiment of the present application;

[0064] Fig. 4 is a schematic diagram of obtaining a memory path according to one specific embodiment of the present application;

[0065] Fig. 5 is a schematic diagram of optimizing a current memory path according to one specific embodiment of the present application;

[0066] Fig. 6 is a schematic diagram of re-planning a path according to one specific embodiment of the present application;

[0067] Fig. 7 is a flow chart of a vehicle original route returning control method according to one specific embodiment of the present application;

[0068] Fig. 8 is a block schematic diagram of a vehicle original route returning control device according to an embodiment of the present application;

[0069] Fig. 9 is a block schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0070] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals and characters are used throughout the figures to denote same or like components. The embodiments described below are illustrative of the present application and are not intended to be limiting thereof.

[0071] A vehicle original route returning control method, device, vehicle and storage medium are described below with reference to the accompanying drawings. In view of the problem that the vehicle original route returning function is prone to causing vehicle scratching and other accidents in a complex harsh environment, the present application provides a vehicle original route returning control method. In the method, it is determined whether an original route returning instruction is received. If the original route returning instruction is received, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path are obtained. When the current memory path meets a preset optimization condition, the target path is obtained by optimizing the current memory path according to the obstacle map. The vehicle is controlled according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path. Thus, the problem that the vehicle original route returning function is prone to causing vehicle scratching and other accidents in a complex harsh environment is solved, the psychological pressure of the driver in reversing the vehicle in a narrow road section is effectively reduced, the efficiency of the driver in reversing the vehicle is greatly improved, and the driving experience of the driver is increased.

[0072] Specifically, FIG. 1 is a flowchart of a vehicle original route returning control method provided by an embodiment of the present application.

[0073] As shown in FIG. 1, the vehicle original route returning control method includes the following steps:

[0074] In step S101, it is determined whether an original route returning instruction is received.

[0075] The original route returning instruction of the embodiment of the present application is an instruction issued by the driver to control the current vehicle to return to the starting point of the path, and configuration information of the original route returning function by the user.

[0076] Specifically, FIG. 2 is a schematic diagram of an original route returning system according to one specific embodiment of the present application. As shown in FIG. 2, the system includes a path memory component, a path optimization processing component, a path tracking component, a human-computer interaction component, a fault diagnosis component and a task scheduling component. After receiving the original route returning instruction, the human-computer interaction component activates the original route returning system.

[0077] The path memory component of the embodiment of the present application is used to obtain memory information of the vehicle (including but not limited to the pose information of the vehicle and the relative relationship between the vehicle and the surrounding obstacles mentioned in the embodiment of the present application), obtain a memory path based on the memory information and establish an obstacle map, and the path memory component of the embodiment of the present application can update the memory path and the obstacle map in real time.

[0078] The path optimization processing component of the embodiment of the present application is used to extract memory path information and process the memory path information according to user configuration. The component provides two path optimization modes, which are: optimizing the current memory path and not optimizing the current memory path. The user can select the optimization mode through the human-computer interaction component.

[0079] The path tracking component of the embodiment of the present application is used to control the vehicle to return along the original path according to the user configuration information. The configuration information of the path tracking component includes lateral control and lateral and longitudinal control, and the user can select the path tracking mode through the human-computer interaction component.

[0080] The human-computer interaction component of the embodiment of the present application provides voice interaction services or somatosensory interaction services to the user facing the device terminal. The fault diagnosis component of the embodiment of the present application can be composed of a sensor monitoring circuit software program, a fault diagnosis communication interface, etc., has a self-diagnosis function, can detect and judge the working conditions of each component of the original path return system, and display the fault in the form of a code. The task scheduling component of the embodiment of the present application is used to manage and schedule tasks, trigger the execution of tasks according to preset conditions, and monitor the execution status of tasks to ensure that the tasks can be completed on time and with quality.

[0081] Based on the above introduction, the original path return system of the embodiment of the present application provides multiple self-defined modes for the user to customize the original path return function, including but not limited to whether to optimize the memory path, including: completely tracking the memory path (without optimizing the memory path), or the system optimizing the memory path; path tracking control mode, including: only controlling the lateral direction or controlling the lateral and longitudinal directions together. Therefore, the original path return instruction of the embodiment of the present application also includes the configuration information of the original path return function of the user.

[0082] In some cases, the system detects that the user has not configured, and by default selects to completely track the memory path and only control the lateral direction.

[0083] It should be noted that after the vehicle is powered on, the original path return system of the embodiment of the present application will establish a global coordinate system and output the vehicle coordinate information. FIG. 3 is a schematic diagram of the vehicle coordinate system of one specific embodiment of the present application. As shown in FIG. 3, the embodiment of the present application takes the midpoint of the rear axle of the vehicle as the coordinate origin, takes the direction of the vehicle head as the x-axis, and takes the left direction perpendicular to the x-axis as the y-axis to establish a global coordinate system. In the process of vehicle driving, the original path return system outputs the coordinate information of the vehicle at all times. In some embodiments, the coordinate information of the vehicle includes but is not limited to the horizontal coordinate x, the vertical coordinate y, and the heading angle yaw.

[0084] Therefore, the original route returning system of the embodiment of the application is activated by receiving the original route returning instruction issued by the user, and the system is initialized according to the configuration information defined by the user, so that the current vehicle is controlled to return to the original point of the memory path according to the original route returning instruction. The original route returning system of the embodiment of the application does not need to increase additional cost, and the vehicle can be controlled to return to the original point of the memory path only by software, which greatly improves the efficiency of the user in reversing. The configuration information of the self-defined original route returning function can improve the driving pleasure of the user and reduce the psychological pressure of the user in complex working conditions.

[0085] In step S102, if the original route returning instruction is received, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path are obtained, and when the current memory path meets the preset optimization condition, the target path is obtained by optimizing the current memory path according to the obstacle map.

[0086] The current path tracking strategy is the lateral control only and the lateral and longitudinal control mentioned in the above embodiments, and the user can define the current path tracking strategy, and if the user does not configure, the system defaults to select the lateral control only. The current memory path and the obstacle map corresponding to the current memory path are obtained by the path memory component, and after the user activates the path memory component, the system generates the memory path and the obstacle map corresponding to the current memory path based on the memory information.

[0087] Optionally, in some embodiments, after the original route returning instruction is received, the current vehicle speed is obtained, and it is judged whether the vehicle meets the preset path memory condition according to the current vehicle speed; if the vehicle does not meet the preset path memory condition, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path do not need to be obtained.

[0088] It can be understood that the embodiment of the application needs to judge whether the path memory component is activated first, that is, the original route returning system of the embodiment of the application detects the vehicle state in real time and judges whether the current vehicle meets the triggering condition of the path memory module, that is, the preset path memory condition of the embodiment of the application.

[0089] Specifically, the preset path memory condition of the embodiment of the application is that the vehicle speed is less than 10 kmph, in the case that the current vehicle speed is greater than 10 kmph, it is determined that the vehicle does not meet the preset path memory condition at this time, so that the system fails to activate the path memory component, and thus the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path do not need to be obtained; in the case that the current vehicle speed is less than 10 kmph, it is determined that the vehicle meets the preset path memory condition at this time, so that the system successfully activates the path memory component, and then the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path need to be obtained.

[0090] It should be noted that, regarding the vehicle speed threshold involved in the preset path memory condition in the above embodiment, the present application does not make a specific limitation on the vehicle speed threshold, and a person skilled in the art can determine the size of the vehicle speed threshold through pre-calibration.

[0091] Optionally, in some embodiments, obtaining the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path further includes: obtaining a current gear of the vehicle; when the current gear is a forward gear, determining whether the current memory path exceeds a first preset threshold; if the current memory path exceeds the first preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a first updating strategy; when the current gear is a reverse gear, obtaining a driving path of the vehicle, and determining whether a difference between the current memory path and the driving path exceeds a second preset threshold; if the difference between the current memory path and the driving path exceeds the second preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a second updating strategy, otherwise, updating the current memory path and the obstacle map corresponding to the current memory path based on a third updating strategy.

[0092] It can be understood that the acquisition of the current memory path depends on the current driving path of the user, and the present application considers that the forward and reverse movement of the vehicle, the vehicle pose information and the relative relationship of the obstacles around the vehicle can all change the current driving path. Therefore, in order to obtain more accurate memory path and obstacle map, the present embodiment acquires the latest memory path and obstacle map according to the current gear of the vehicle and detects the state of the vehicle in real time.

[0093] Fig. 4 is a schematic diagram of obtaining a memory path according to one specific embodiment of the present application. In some cases, the current gear of the vehicle is D gear, and the system always remembers the information of the distance Dt of the recent driving of the vehicle. The present embodiment sets Dt as 50 m, i.e., the first preset threshold of the present embodiment, and then determines whether the obtained memory path exceeds 50 m. In the case that the memory path exceeds 50 m, the current memory path and the obstacle map corresponding to the current memory path are updated according to the first updating strategy of the present embodiment.

[0094] The first updating strategy of the present embodiment is shown in Fig. 4(a), which deletes the earliest memory path, adds the latest path and obstacle information, and always ensures that the memory path of the distance Dt of the recent driving of the vehicle and the obstacle information.

[0095] In some cases, the current gear of the vehicle is P gear, and the system needs to compare the path of the vehicle driving forward, i.e., the driving path of the embodiment of the application, with the previously memorized path of P gear, i.e., the current memorized path of the embodiment of the application, and calculate the difference therebetween. In the case where the path of driving forward and the memorized path of P gear are laterally offset by more than the first preset threshold, the current memorized path and the obstacle map corresponding to the current memorized path are updated based on the first updating strategy, otherwise, the current memorized path and the obstacle map corresponding to the current memorized path are updated based on the second updating strategy.

[0096] The second updating strategy of the embodiment of the application is to clear the previously memorized path information. The third updating strategy of the embodiment of the application is shown in (b) of FIG. 4, that is, when the system detects that the difference is less than the second preset threshold, the system erases the path and obstacle information of driving in R gear in the originally memorized path information.

[0097] It should be noted that the second preset threshold of the application can be 0.5 m, and the application does not specifically limit the setting of the first preset threshold and the second preset threshold, and a person skilled in the art can obtain it by pre-calibration.

[0098] Further, after the user engages R gear, the system will pop up a button for activating the original path return function on the instrument through the artificial interaction component. If the user activates the function, it is necessary to determine whether the current memorized path meets the preset optimization condition.

[0099] It can be understood that the original path return function of the embodiment of the application can be customized by the user whether to optimize the path, i.e., the two optimization modes mentioned in the above embodiment: completely tracking the memorized path (not optimizing the current memorized path) and optimizing the memorized path.

[0100] Specifically, the preset optimization condition of the embodiment of the application is that the user customizes to select to optimize the memorized path. If the user configures to completely track the memorized path, i.e., not to optimize the current memorized path, the system directly extracts the current memorized path and outputs it to the path tracking component.

[0101] Optionally, in some embodiments, the target path is obtained by optimizing the current memorized path according to the obstacle map, including: obtaining the maximum curvature of the vehicle; taking the current memorized path as a reference line of the target path, and using a preset optimization algorithm to obtain the target path according to the maximum curvature, the reference line and the obstacle map corresponding to the current memorized path.

[0102] Specifically, if the vehicle meets the preset optimization condition, i.e., the user configures to optimize the current memory path, the system first locks the information of the current memory path, and then takes the current memory path as a reference line of the optimized path, as shown in FIG. 5, where the dashed line is the reference line and the solid line is the target path after optimization. The system uses an optimization algorithm to optimize the current memory path according to the memory obstacle map information, and outputs the target path to the path tracking component after completing the path optimization.

[0103] It can be understood that during driving, the driver will inevitably perform some operations to avoid vehicles and pedestrians, which results in that part of the original path return function memory, i.e., the current memory path, has frequent steering, and the smoothness is poor. This part of the path is not only meaningless for reversing, but also affects the steering wheel control effect during path tracking. At the same time, since the steering system has a control dead zone when responding to the original path return system instruction, i.e., it cannot respond to the driver's request for a large steering angle, and the user often has a relatively large steering action when entering a U-shaped curve. At this time, it often exceeds the response range of the control system, which results in that the memory path curvature exceeds the system response range, and the system cannot track the path, resulting in system tracking failure.

[0104] Therefore, the embodiment of the present application takes the current memory path as the reference line of the original path return, and then performs smoothing processing on the current memory path according to the obstacle map information of the current memory path, optimizes the unreasonable vehicle steering operation, and takes the maximum curvature that the steering system can respond to as a constraint to optimize the large curvature path information that exceeds the response range of the steering system in advance, to prevent tracking failure.

[0105] Among them, the optimization algorithm of the embodiment of the present application includes but is not limited to a quadratic programming optimization algorithm. Taking the quadratic programming algorithm as an example, the optimization objective function mentioned in the embodiment of the present application is shown in the following formula (1), which mainly includes smoothness constraint, curvature constraint, distance from obstacle distance constraint, and distance from reference line distance constraint.

[0106] Among them, ω1, ω2, ω3 and ω4 represent the weight coefficients of each optimization item respectively, x i and y i represent the horizontal and vertical coordinates of the path point to be optimized, x ir and y ir represent the horizontal and vertical coordinates of the reference line path point, x obi and y obi represent the horizontal and vertical coordinates of the target path point, and the objective function from left to right represents the similarity cost of the optimized path and the original path point, the smoothness cost, the compactness cost, and the distance from obstacle distance cost; g(x) represents the distance cost relationship between the path point and the obstacle, and the specific relationship is shown in formula (2):

[0107] wherein x is a path point, and d is the distance between the path point and the obstacle.

[0108] Therefore, the application sets different optimization weights by taking the current memory path as the reference path, optimizes the memory path, simulates tracking failure, and improves the path tracking effect.

[0109] In step S103, the vehicle is controlled according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path.

[0110] In the application, the current path tracking strategy includes only lateral control of the vehicle and lateral and longitudinal control of the vehicle.

[0111] Specifically, the current path tracking strategy is user-defined, and the application controls the vehicle to return to the original path based on the current path tracking strategy and the target path through the path tracking component. If the user configures only lateral control of the vehicle, the original path return function will only control the steering system laterally after being activated, and the longitudinal control is left to the driver. At this time, the system will monitor the longitudinal vehicle speed, and when the vehicle speed is greater than a threshold K (the threshold K can be set to 5 kmph), the system will prompt the driver that the vehicle speed is too fast and please reduce the vehicle speed. When the vehicle speed is greater than a threshold M (the threshold M can be set to 10 kmph), the system will exit the lateral control and prompt the driver that the function is exited.

[0112] Optionally, in some embodiments, the vehicle is controlled according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path, and the method further comprises: obtaining current obstacle information of the vehicle; determining the distance between the vehicle and the obstacle according to the current obstacle information, and determining whether the distance is less than a third preset threshold and whether the duration that the distance is less than the third preset threshold exceeds a preset duration; if the distance is less than the third preset threshold and the duration that the distance is less than the third preset threshold does not exceed the preset duration, determining whether a path re-planning instruction is received; if the path re-planning instruction is received, updating the target path based on the current obstacle information, and if the path re-planning instruction is not received, controlling the vehicle to exit the original path return control.

[0113] In the application, the third preset threshold is 30 cm, and the preset duration is 60 s.

[0114] It can be understood that if the user configures the vehicle for lateral and longitudinal control, the system will adopt a lateral and longitudinal collaborative control method for path tracking. In the path following process, the system detects the obstacle information around the vehicle at all times and gives the driver light and sound prompts.

[0115] Specifically, FIG. 6 is a schematic diagram of path re-planning in an embodiment of the present application. As shown in FIG. 6, the system detects the information of the vehicle and the surrounding obstacles through the vehicle-mounted information collection module such as ultrasonic radar at all times. When it is detected that the distance between the vehicle and the obstacle in the direction of travel of the vehicle is less than 30 cm and the duration of the distance less than 30 cm does not exceed 60 s, that is, the obstacle does not move, the system prompts the driver whether to re-plan the path to return to the original point of the memory path. If the user clicks to agree, the system will re-plan the path, try to detour and control the vehicle to return to the original point. Otherwise, the system will directly exit.

[0116] In addition, in the case where it is detected that the distance between the vehicle and the obstacle is less than 30 cm, the original path return system of the embodiment of the present application will immediately stop the vehicle and wait for the obstacle to move away.

[0117] Optionally, in some embodiments, the judging whether the distance is less than the third preset threshold value and whether the duration of the distance less than the third preset threshold value exceeds the preset duration further comprises: if the distance is greater than the third preset threshold value and the duration of the distance greater than the third preset threshold value does not exceed the preset duration, judging whether the original path return instruction is received; if the original path return instruction is not received, controlling the current gear of the vehicle to be the parking gear and exiting the original path return control; and if the original path return instruction is received, controlling the vehicle to reach the terminal point of the target path.

[0118] In some cases, the distance between the vehicle and the obstacle is greater than 30 cm and the duration of the distance greater than 30 cm exceeds 60 s, it is determined that the obstacle moves away at this time. The system prompts the driver whether to continue the original path return function. If the user clicks to continue, the system will continue to control the vehicle to return to the original point. If the user clicks to cancel, the original path return system is exited, the vehicle is put into the P gear, and the EPB (Electrical Park Brake) is pulled up.

[0119] Thus, in the original path return control process, the original path return system detects the distance relationship between the vehicle and the obstacle, and provides different processing measures according to different user configuration definitions.

[0120] In order for those skilled in the art to further understand the vehicle original path return control method of the embodiments of the present application, the implementation steps of the method are schematically described below in conjunction with the drawings.

[0121] Specifically, FIG. 7 is a flow chart of the vehicle original path return control method of an embodiment of the present application. As shown in FIG. 7, the method can include the following steps:

[0122] (1) The vehicle is powered on, the function is turned on, the original path return system establishes a global coordinate system, and the vehicle coordinate information is output.

[0123] (2) User configures the original route return function attribute, including the path tracking mode (only control the lateral or lateral and longitudinal control together) and whether to optimize the memory path (completely track the memory path or the system optimizes the memory path), after the user completes the function configuration, activates the original route return function, if the system detects that the user has not configured, the default selection is completely tracking the memory path and only lateral control.

[0124] (3) The system detects whether the vehicle state meets the path memory condition, if the vehicle meets the trigger condition of the path memory component, that is, the vehicle speed is less than 10kmphh (the parameter can be calibrated), the system activates the path memory component.

[0125] As shown in (a) of FIG. 4, when the vehicle is in D gear, the system always remembers the information of the distance Dt recently traveled by the vehicle (the value of Dt can be calibrated, for example, Dt is 50m). The system establishes an obstacle map (the relative relationship between the vehicle and the surrounding obstacles) based on the memory information (the memory information mentioned in the embodiments of the present application includes but is not limited to the pose information of the vehicle and the relative relationship between the vehicle and the surrounding obstacles). When the system detects that the memory path exceeds the distance Dt, the system updates the memory path and the obstacle map, deletes the earliest memory path, adds the latest path and obstacle information, and always ensures that the memory path of the vehicle recently traveled for the distance Dt and the obstacle information.

[0126] As shown in (b) of FIG. 4, when the system detects that the vehicle is in R gear, the system compares the backward driving path of the vehicle and the D gear memory path at any time, and when the lateral offset between the backward driving path and the D gear memory path exceeds the set threshold value (the threshold value set in the embodiments of the present application is 0.5m), the system will clear the previously memorized path information; when the system detects that the deviation is less than the set threshold value, the system will erase the R gear driving path and obstacle information in the original memory path information.

[0127] The system detects the vehicle state at any time and judges whether the user activates the original route return function. When the driver shifts into R gear, the system will pop up a button on the instrument panel to activate the original route return function, and if the driver activates the function, the system enters step (4).

[0128] (4) The system extracts the memory path information and processes the memory path information according to the user configuration. If the user configures not to optimize the memory path, the system directly extracts the memory path information and outputs it to the path tracking component, and enters step (5); if the user configures to optimize the memory path, the system will first lock the memory path information, and then use the memory path information as the reference line for optimizing the path, as shown in FIG. 5, the system optimizes the path using the optimization algorithm according to the memory obstacle map information, and outputs the path to the path tracking module after completing the path optimization, and enters step (5).

[0129] The embodiment of the present application takes the original path of memory as the reference line of returning to the original path, then smoothes the path of memory according to the obstacle map information of memory, optimizes the unreasonable vehicle steering operation, and simultaneously takes the maximum curvature that the steering system can respond as a constraint to optimize the large curvature path information that exceeds the response range of the steering system in advance, so as to prevent tracking failure.

[0130] (5) The path tracking component controls the vehicle to return to the original path according to the user configuration information. If the user configures to control only the lateral direction, the return-to-original-path function is activated to only control the steering system to control the lateral direction, and the longitudinal direction is controlled by the driver. At this time, the system monitors the vehicle speed in the longitudinal direction, and when the vehicle speed is greater than a threshold K (K in the embodiment of the present application is set to 5 kmph), the system prompts the driver that the vehicle speed is too fast, and please reduce the vehicle speed. When the vehicle speed is greater than a threshold M (M in the embodiment of the present application is set to 10 kmph), the system exits the lateral control, and prompts the driver that the function is exited.

[0131] If the user configures the system to control the lateral and longitudinal directions, the system controls the path tracking in the way of cooperative control of the lateral and longitudinal directions. In the path tracking process, the system detects the obstacle information around the vehicle at all times, and gives the driver light and sound prompts. Specifically, the system detects the obstacle information around the vehicle at all times through the vehicle-mounted information acquisition module such as an ultrasonic radar, and when the distance between the vehicle and the obstacle in the direction of travel is detected to be less than a threshold G (G in the embodiment of the present application is 30 cm), the system stops the vehicle, and waits for the obstacle to move away. If the obstacle moves away within a specified time T (T in the embodiment of the present application is 60 s), the system prompts the driver whether to continue the return-to-original-path function, and if the user clicks continue, the system continues to control the vehicle to return to the original point, and if the user clicks cancel, the system enters step (6). If the obstacle does not move within the specified time T, the system prompts the driver whether to re-plan the path to return to the original point, and if the user clicks yes as shown in FIG. 6, the system re-plans the path to try to bypass and control the vehicle to return to the original point. If the path can be planned, the system enters step (5), otherwise the system directly exits.

[0132] (6) The return-to-original-path system is exited, the vehicle is put into P gear, and the EPB is pulled up.

[0133] Therefore, the vehicle return-to-original-path control method of the embodiment of the present application sets a custom option, controls the vehicle to return to the original path according to the user custom configuration information, and in the process of returning to the original path, detects the relationship between the vehicle and the obstacle in real time, provides different processing measures, greatly improves the efficiency of the driver reversing, and increases the driving experience of the driver.

[0134] According to the vehicle original route returning control method provided in the embodiments of the present application, whether the original route returning instruction is received is judged, if the original route returning instruction is received, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path are obtained, and when the current memory path meets the preset optimization condition, the target path is obtained by optimizing the current memory path according to the obstacle map, the vehicle is controlled according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path. Thus, the problem that the vehicle original route returning function is prone to cause vehicle scratching and other accidents in complex and harsh environment is solved, the psychological pressure of the driver in reversing the vehicle in the narrow road section is effectively reduced, the efficiency of the driver in reversing the vehicle is greatly improved, and the driving experience of the driver is increased.

[0135] Secondly, the vehicle original route returning control device provided in the embodiments of the present application is described with reference to the accompanying drawings.

[0136] FIG. 8 is a block schematic diagram of the vehicle original route returning control device according to the embodiments of the present application.

[0137] As shown in FIG. 8, the vehicle original route returning control device 10 comprises a judging module 100, an optimization module 200 and a control module 300.

[0138] Specifically, the judging module 100 is configured to judge whether the original route returning instruction is received; the optimization module 200 is configured to, in the case that the original route returning instruction is received, obtain the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path, and obtain the target path by optimizing the current memory path according to the obstacle map when the current memory path meets the preset optimization condition; and the control module 300 is configured to control the vehicle according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path.

[0139] Optionally, in some embodiments, the optimization module 200 is specifically configured to: obtain the maximum curvature of the vehicle; take the current memory path as the reference line of the target path, and obtain the target path according to the maximum curvature, the reference line and the obstacle map corresponding to the current memory path by using a preset optimization algorithm.

[0140] Optionally, in some embodiments, the optimization module 200 is further configured to: acquire a current gear of the vehicle; determine whether the current memory path exceeds a first preset threshold when the current gear is a forward gear; update the current memory path and the obstacle map corresponding to the current memory path based on a first update strategy when the current memory path exceeds the first preset threshold; acquire a driving path of the vehicle and determine whether a difference between the current memory path and the driving path exceeds a second preset threshold when the current gear is a reverse gear; update the current memory path and the obstacle map corresponding to the current memory path based on a second update strategy when the difference between the current memory path and the driving path exceeds the second preset threshold, or update the current memory path and the obstacle map corresponding to the current memory path based on a third update strategy when the difference between the current memory path and the driving path does not exceed the second preset threshold.

[0141] Optionally, in some embodiments, the control module 300 is further configured to: acquire current obstacle information of the vehicle; determine a distance between the vehicle and the obstacle according to the current obstacle information, and determine whether the distance is less than a third preset threshold and whether a duration for which the distance is less than the third preset threshold exceeds a preset duration; determine whether an instruction for re-planning the path is received when the distance is less than the third preset threshold and the duration for which the distance is less than the third preset threshold does not exceed the preset duration; update the target path based on the current obstacle information when the instruction for re-planning the path is received, or control the vehicle to exit the original path return control when the instruction for re-planning the path is not received.

[0142] Optionally, in some embodiments, the control module 300 is further configured to: determine whether an original path return instruction is received when the distance is greater than the third preset threshold and the duration for which the distance is greater than the third preset threshold does not exceed the preset duration; control a current gear of the vehicle to be a parking gear and exit the original path return control when the original path return instruction is not received, or control the vehicle to reach an end point of the target path when the original path return instruction is received.

[0143] Optionally, in some embodiments, after the original path return instruction is received, the optimization module 200 is further configured to: acquire a current speed of the vehicle, and determine whether the vehicle satisfies a preset path memory condition according to the current speed; acquire the current path tracking strategy, the current memory path, and the obstacle map corresponding to the current memory path when the vehicle does not satisfy the preset path memory condition.

[0144] It should be noted that the foregoing explanation and description of the vehicle original path return control method embodiment are also applicable to the vehicle original path return control device of this embodiment, which will not be described here again.

[0145] The vehicle original route returning control device provided by the embodiment of the present application can solve the problem that the vehicle original route returning function is prone to cause vehicle scratching and other accidents in a complex and harsh environment, effectively reduce the psychological pressure of the driver when reversing in a narrow road section, greatly improve the efficiency of the driver when reversing, and increase the driving experience of the driver.

[0146] Fig. 9 is a structural schematic diagram of a vehicle provided by the embodiment of the present application. The vehicle can include:

[0147] The memory 901, the processor 902 and the computer program stored in the memory 901 and executable on the processor 902.

[0148] The processor 902 implements the vehicle original route returning control method provided in the above embodiment when executing the program.

[0149] Further, the vehicle further includes:

[0150] The communication interface 903 is used for communication between the memory 901 and the processor 902.

[0151] The memory 901 is used for storing the computer program executable on the processor 902.

[0152] The memory 901 can include a high-speed RAM (Random Access Memory) memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0153] If the memory 901, the processor 902 and the communication interface 903 are independently implemented, the communication interface 903, the memory 901 and the processor 902 can be connected with each other through a bus and complete the communication between each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in Fig. 9, but it does not mean that there is only one bus or only one type of bus.

[0154] Optionally, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can complete the communication among each other through an internal interface.

[0155] The processor 902 can be a CPU (Central Processing Unit, central processor), or an ASIC (Application Specific Integrated Circuit, specific integrated circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0156] The embodiments of the present application also provide a computer readable storage medium, which has stored a computer program, and the program is executed by a processor to implement the vehicle return-to-original-path control method described above.

[0157] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0158] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0159] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) in the process, and that the various embodiments of the preferred implementation can include additional or fewer steps or segments of code, and that the method steps, segments, or portions of code can be combined with other code segments or portions of code into a single computer program or set of programs, and that the various embodiments of the preferred implementation can also be implemented via more than one set of codes and / or via portions of a single set of codes. In some embodiments, the various embodiments of the preferred implementation can be implemented via a set of codes executed on a hardware-based system, such as a microprocessor-based system, or an application-specific hardware system.

[0160] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, alone or in any combination, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

[0161] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0162] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle original route return control method characterized by comprising: The method comprises the following steps: determining whether a return-to-original-path instruction is received; if the return-to-original-path instruction is received, obtaining a current path tracking strategy, a current memory path, and an obstacle map corresponding to the current memory path, and optimizing the current memory path according to the obstacle map to obtain a target path when the current memory path meets a preset optimization condition; controlling the vehicle according to the current path tracking strategy and the target path until the vehicle reaches an end point of the target path.

2. The vehicle return-home control method according to claim 1, characterized by The optimization of the current memory path according to the obstacle map to obtain the target path comprises: obtaining a maximum curvature of the vehicle; taking the current memory path as a reference line of the target path, and using a preset optimization algorithm to obtain the target path according to the maximum curvature, the reference line, and the obstacle map corresponding to the current memory path.

3. The vehicle return-home control method according to claim 1, characterized by The obtaining of the current path tracking strategy, the current memory path, and the obstacle map corresponding to the current memory path further comprises: obtaining a current gear of the vehicle; when the current gear is a forward gear, determining whether the current memory path exceeds a first preset threshold; if the current memory path exceeds the first preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a first updating strategy; when the current gear is a reverse gear, obtaining a driving path of the vehicle, and determining whether a difference between the current memory path and the driving path exceeds a second preset threshold; if the difference between the current memory path and the driving path exceeds the second preset threshold, updating the current memory path and the obstacle map corresponding to the current memory path based on a second updating strategy, otherwise, updating the current memory path and the obstacle map corresponding to the current memory path based on a third updating strategy.

4. The vehicle return-home control method according to claim 1, characterized by The control of the vehicle according to the current path tracking strategy and the target path until the vehicle reaches the end point of the target path further comprises: obtaining current obstacle information of the vehicle; determining a distance between the vehicle and an obstacle according to the current obstacle information, and determining whether the distance is less than a third preset threshold and a duration for which the distance is less than the third preset threshold exceeds a preset duration; if the distance is less than the third preset threshold and the duration for which the distance is less than the third preset threshold does not exceed the preset duration, determining whether a path re-planning instruction is received; if the path re-planning instruction is received, updating the target path based on the current obstacle information, and if the path re-planning instruction is not received, controlling the vehicle to exit the return-to-original-path control. The determination of whether the distance is less than the third preset threshold and the duration for which the distance is less than the third preset threshold exceeds the preset duration further comprises:

5. The vehicle return-home control method according to claim 4, characterized by if the distance is greater than the third preset threshold and a duration for which the distance is greater than the third preset threshold does not exceed the preset duration, determining whether the return-to-original-path instruction is received. ​ If the original route returning instruction is not received, the current gear of the vehicle is controlled to be a parking gear, and the original route returning control is exited, and if the original route returning instruction is received, the vehicle is controlled to reach an end point of the target path.

6. The vehicle return-home control method according to claim 1, characterized by After the original route returning instruction is received, further comprising: obtaining a current speed of the vehicle, and determining whether the vehicle meets a preset path memory condition according to the current speed; If the vehicle does not meet the preset path memory condition, the current path tracking strategy, the current memory path and the obstacle map corresponding to the current memory path do not need to be obtained.

7. A vehicle return-to-origin control device characterized by comprising: Comprising: a judging module configured to determine whether an original route returning instruction is received; an optimization module configured to, in a case where the original route returning instruction is received, obtain a current path tracking strategy, a current memory path and an obstacle map corresponding to the current memory path, and according to the obstacle map, optimize the current memory path to obtain a target path when the current memory path meets a preset optimization condition; a control module configured to control the vehicle according to the current path tracking strategy and the target path until the vehicle reaches an end point of the target path.

8. The apparatus of claim 7, wherein, The optimization module is specifically configured to: obtain a maximum curvature of the vehicle; take the current memory path as a reference line of the target path, and use a preset optimization algorithm to obtain the target path according to the maximum curvature, the reference line and the obstacle map corresponding to the current memory path.

9. A vehicle characterized by comprising: Comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executes the program to implement the vehicle original route returning control method according to any one of claims 1-6.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the vehicle original route returning control method according to any one of claims 1-6.

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