Vehicle parking-out trajectory determination method, and vehicle and computer-readable storage medium

Abstract

Provided in the embodiments of the present application are a vehicle parking-out trajectory determination method, and a vehicle and a computer-readable storage medium. The method comprises: in response to automatic parking-out being triggered, a vehicle acquiring available parking-out directions for the vehicle and displaying same, acquiring a first parking-out trajectory corresponding to the available parking-out directions, and then acquiring a target parking-out direction; planning a second parking-out trajectory corresponding to the target parking-out direction; and when the planning fails, the vehicle acquiring a third parking-out trajectory from the first parking-out trajectory, and controlling the vehicle to travel according to the third parking-out trajectory. In this way, after displaying available parking-out directions for a vehicle, the vehicle can acquire a first parking-out trajectory corresponding to the available parking-out directions, and even if the planning of a second parking-out trajectory corresponding to a target parking-out direction selected by a subsequent user fails, the vehicle can acquire, from the first parking-out trajectory, a third parking-out trajectory corresponding to the target parking-out direction, and then the vehicle is controlled to travel according to the third parking-out trajectory, thereby increasing the success rate of automatic parking-out of the vehicle.

Description

Method for determining vehicle exit trajectory, vehicle and computer readable storage medium

[0001] The present application claims priority to the Chinese patent application No. 202410642545.6, filed on May 22, 2024, entitled "Method for determining vehicle exit trajectory, vehicle and computer readable storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of intelligent terminal, in particular to a method for determining vehicle exit trajectory, a vehicle and a computer readable storage medium. BACKGROUND

[0003] With the development of intelligent driving technology, the automatic parking (APA) technology is applied on more and more vehicles. When the vehicle is parked in a parking space, and the user selects to automatically park out the vehicle from the parking space, the existing related technology has the problem that the vehicle cannot plan an exit trajectory, thereby causing the automatic parking out of the vehicle to fail, affecting the use experience of the automatic parking out of the vehicle. SUMMARY

[0004] Embodiments of the present application provide a method for determining vehicle exit trajectory, a vehicle and a computer readable storage medium, so as to realize that when the automatic parking out is triggered, the first exit trajectory corresponding to the parkable direction of the vehicle can be obtained after the vehicle displays the parkable direction of the vehicle, thereby improving the success rate of the automatic parking out of the vehicle and improving the use experience of the automatic parking out of the vehicle.

[0005] In a first aspect, embodiments of the present application provide a method for determining vehicle exit trajectory, comprising: in response to automatic parking out being triggered, obtaining a parkable direction of a vehicle; displaying the parkable direction and obtaining a first exit trajectory corresponding to the parkable direction; obtaining a target parking out direction selected from the displayed parkable direction; planning a second exit trajectory corresponding to the target parking out direction; when the second exit trajectory planning fails, obtaining a third exit trajectory corresponding to the target parking out direction from the first exit trajectory; and controlling the vehicle to travel according to the third exit trajectory.

[0006] In the method for determining the vehicle exit trajectory, in response to the automatic exit being triggered, the vehicle obtains a possible exit direction of the vehicle and displays the possible exit direction, obtains a first exit trajectory corresponding to the possible exit direction, then the vehicle obtains a selected target exit direction from the displayed possible exit direction, plans a second exit trajectory corresponding to the target exit direction, when the planning of the second exit trajectory fails, the vehicle obtains a third exit trajectory corresponding to the target exit direction from the first exit trajectory, and controls the vehicle to drive according to the third exit trajectory, so that the first exit trajectory corresponding to the possible exit direction can be obtained after the vehicle displays the possible exit direction, even if the planning of the second exit trajectory corresponding to the target exit direction selected by the user fails, the vehicle can obtain the third exit trajectory corresponding to the target exit direction from the first exit trajectory, and control the vehicle to drive according to the third exit trajectory, thereby improving the success rate of the automatic exit of the vehicle and improving the use experience of the automatic exit of the vehicle.

[0007] In one possible implementation manner, after the planning of the second exit trajectory corresponding to the target exit direction, the method further includes: when the planning of the second exit trajectory succeeds, controlling the vehicle to drive according to the second exit trajectory.

[0008] In one possible implementation manner, the obtaining of the possible exit direction of the vehicle includes: obtaining obstacle information on a candidate exit direction of the vehicle; and obtaining the possible exit direction of the vehicle from the candidate exit direction according to the obstacle information.

[0009] In one possible implementation manner, the obtaining of the obstacle information on the candidate exit direction of the vehicle includes: obtaining an image frame of a surrounding scene of the vehicle; and detecting obstacles on the candidate exit direction of the vehicle frame by frame according to the image frame.

[0010] In one possible implementation manner, the obtaining of the possible exit direction of the vehicle from the candidate exit direction according to the obstacle information includes: if it is determined according to the image frame that there is no obstacle on the candidate exit direction, determining that the candidate exit direction is the possible exit direction of the vehicle.

[0011] In one possible implementation manner, the obtaining of the possible exit direction of the vehicle from the candidate exit direction according to the obstacle information includes: if it is determined according to a previous image frame that there is an obstacle on the candidate exit direction, and it is determined according to a current image frame that there is no obstacle on the candidate exit direction, determining that the candidate exit direction is changed from an impossible exit direction of the vehicle to a possible exit direction of the vehicle.

[0012] In a possible implementation, after the candidate parking-out direction is changed from the parking-out direction of the vehicle to the parking-in direction of the vehicle, the method further includes: if the parking-out trajectory corresponding to the candidate parking-out direction does not exist in the first parking-out trajectory, planning the parking-out trajectory corresponding to the candidate parking-out direction; and after the parking-out trajectory corresponding to the candidate parking-out direction is successfully planned, saving the parking-out trajectory corresponding to the candidate parking-out direction.

[0013] In a possible implementation, after the parking-out trajectory corresponding to the candidate parking-out direction is planned, the method further includes: if the parking-out trajectory corresponding to the candidate parking-out direction fails to be planned, recording an event that the parking-out trajectory corresponding to the candidate parking-out direction fails to be planned; and changing the candidate parking-out direction from the parking-in direction of the vehicle to the parking-out direction of the vehicle.

[0014] In a possible implementation, the first parking-out trajectory corresponding to the parking-in direction is obtained by: planning the first parking-out trajectory corresponding to the parking-in direction; and if the first parking-out trajectory is successfully planned, saving the first parking-out trajectory.

[0015] In a possible implementation, after the first parking-out trajectory corresponding to the parking-in direction is planned, the method further includes: if the parking-out trajectory corresponding to the first parking-in direction fails to be planned, recording an event that the parking-out trajectory corresponding to the first parking-in direction fails to be planned; and changing the first parking-in direction to the parking-out direction of the vehicle.

[0016] In a second aspect, an embodiment of the present application provides a vehicle, including: one or more processors; a memory; a plurality of application programs; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the vehicle, cause the vehicle to perform the method in the first aspect.

[0017] It should be understood that the second aspect of the embodiment of the present application is consistent with the technical solution of the first aspect of the embodiment of the present application, and similar beneficial effects are achieved by the aspects and corresponding feasible implementations, which will not be described herein again.

[0018] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program, which, when executed on a computer, causes the computer to perform the method in the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a computer program, which, when executed on a computer, is configured to perform the method in the first aspect.

[0020] In a possible design, the program in the fourth aspect can be stored, in whole or in part, on a storage medium packaged together with the processor, or stored, in part or in whole, on a storage medium not packaged together with the processor. BRIEF DESCRIPTION OF DRAWINGS

[0021] FIG. 1 is a structural schematic diagram of a vehicle according to an embodiment of the present application;

[0022] FIG. 2 is a flowchart of a method for determining a vehicle exit trajectory according to an embodiment of the present application;

[0023] FIG. 3 is a schematic diagram of a first interface according to an embodiment of the present application;

[0024] FIG. 4(a) to FIG. 4(c) are schematic diagrams of a second interface according to an embodiment of the present application;

[0025] FIG. 5 is a schematic diagram of a third interface according to an embodiment of the present application;

[0026] FIG. 6 is a schematic diagram of a first exit trajectory according to an embodiment of the present application;

[0027] FIG. 7 is a schematic diagram of a first exit trajectory according to another embodiment of the present application;

[0028] FIG. 8 is a flowchart of a method for determining a vehicle exit trajectory according to another embodiment of the present application;

[0029] FIG. 9 is a flowchart of a method for determining a vehicle exit trajectory according to still another embodiment of the present application;

[0030] FIG. 10 is a schematic diagram of obtaining a parkable direction of a vehicle 100 according to an embodiment of the present application;

[0031] FIG. 11 is a schematic diagram of a display interface of a parkable direction according to an embodiment of the present application;

[0032] FIG. 12 is a schematic diagram of obtaining a parkable direction of a vehicle 100 according to another embodiment of the present application;

[0033] FIG. 13 is a schematic diagram of a display interface of a parkable direction according to another embodiment of the present application;

[0034] FIG. 14 is a structural schematic diagram of a vehicle according to another embodiment of the present application. DETAILED DESCRIPTION

[0035] The terms used in the embodiment part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0036] When the vehicle is parked in the parking space, the user selects to automatically park out the vehicle from the parking space, the vehicle detects whether there is an obstacle in the direction of parking out, if there is no obstacle in the direction of parking out, the vehicle displays the direction of parking out. After the user selects the direction of parking out from the displayed direction of parking out, the vehicle plans the parking-out trajectory, and then the vehicle drives out of the parking space along the parking-out trajectory. However, if the vehicle displays the direction of parking out, and after the user selects the target parking-out direction from the direction of parking out displayed by the vehicle, the vehicle detects that there is an obstacle in the target parking-out direction, for example, the vehicle detects that there is a vehicle or a pedestrian passing through the target parking-out direction, etc., then the vehicle fails to plan the parking-out trajectory corresponding to the target parking-out direction, thereby causing the vehicle to fail to automatically park out. For the user, the intuitive feeling is that after selecting the target parking-out direction, the vehicle does not respond, resulting in poor user experience of the vehicle automatically parking out.

[0037] To solve this problem, the existing related technology provides solutions including detouring obstacles, setting a dormancy threshold, and / or calculating a safety field force, etc.

[0038] In one solution of setting a dormancy threshold, it is described that a parking obstacle in the environment around the vehicle is detected according to a user parking instruction; a dormancy threshold is obtained in a case where the vehicle cannot avoid the parking obstacle; and the vehicle is controlled to sleep and wait for re-parking based on the dormancy threshold. However, in this solution, the dormancy threshold cannot be accurately determined, and a single dormancy threshold is not suitable for all scenarios.

[0039] In one solution of detouring obstacles, it is described that when an automatic parking instruction is received, a first parking route matching the current position is determined in a pre-stored parking route by a valet parking host; when the first parking route matching the current position exists, automatic parking operation is performed according to the first parking route; when the first parking route matching the current position does not exist, it is determined whether a second parking route matching the current position exists according to the name of the pre-stored parking route; when the second parking route matching the current position exists, and the current position matches the target position of the second parking route, automatic parking operation is performed according to the second parking route. However, in this solution, the pre-stored trajectory is a collision-free trajectory generated according to obstacles, and still cannot pass through complex scenes.

[0040] In one solution of calculating the safety field force, an automatic parking control system based on predefined functions is described, first unsafe behavior information output by the automatic parking control system in a current automatic parking scene is determined; second unsafe behavior information is determined based on the key words of the safety analysis applied to the first unsafe behavior information, and failure unsafe behavior information is determined according to the second unsafe behavior information in combination with the current automatic parking scene. The safety hazard event in the current automatic parking scene is determined according to the failure unsafe behavior information. However, in this solution, the first unsafe behavior and the second unsafe behavior both consider the obstacle information, and when there is an obstacle remaining, the parking-out trajectory of the vehicle will still fail to be planned.

[0041] Based on the above problems, the embodiment of the present application provides a vehicle parking-out trajectory determination method, which can realize that when an obstacle is detected in the parking-out direction of the vehicle, the vehicle can still plan the parking-out trajectory, thereby improving the success rate of automatic parking of the vehicle.

[0042] The vehicle parking-out trajectory determination method provided by the embodiment of the present application can be applied to a vehicle. For example, FIG. 1 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. In one embodiment, the vehicle 100 is configured in a fully or partially automatic driving mode. For example, the vehicle 100 can control itself while being in the automatic driving mode, and can determine the current state of the vehicle 100 and its surrounding environment through human operation, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility that the other vehicle performs the possible behavior, and control the vehicle 100 based on the determined information. When the vehicle 100 is in the automatic driving mode, the vehicle 100 can be placed to operate without human interaction.

[0043] The vehicle 100 can include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power source 110, a computer system 112, and a user interface 116. Optionally, the vehicle 100 can include more or fewer subsystems, and each subsystem can include multiple elements. In addition, each subsystem and element of the vehicle 100 can be interconnected by wire or wirelessly.

[0044] The travel system 102 can include components that provide powered movement for the vehicle 100. In one embodiment, the travel system 102 can include an engine 118, an energy source 119, a transmission 120, and wheels / tires 121. The engine 118 can be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, a hybrid engine composed of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy.

[0045] Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 119 may also provide energy to other systems of vehicle 100.

[0046] The transmission 120 can transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 121.

[0047] Sensor system 104 may include several sensors for sensing information about the environment surrounding vehicle 100. For example, sensor system 104 may include a positioning system 122 (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), an inertial measurement unit (IMU) 124, radar 126, a laser rangefinder 128, and a camera 130. Sensor system 104 may also include sensors for the internal systems of the monitored vehicle 100 (e.g., an in-vehicle air quality monitor, fuel gauge, and / or oil temperature gauge). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, and / or speed, etc.). This detection and identification is a key function for the safe operation of the autonomous vehicle 100.

[0048] The positioning system 122 can be used to estimate the geographic location of the vehicle 100. The IMU 124 is used to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope.

[0049] Radar 126 can use radio signals to sense objects in the surrounding environment of vehicle 100. In some embodiments, in addition to sensing objects, radar 126 can also be used to sense the speed and / or direction of travel of objects.

[0050] The laser rangefinder 128 can use lasers to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0051] Camera 130 can be used to capture multiple images of the surrounding environment of vehicle 100. Camera 130 can be a still camera or a video camera.

[0052] The control system 106 controls the operation of the vehicle 100 and its components. The control system 106 can include various elements, including a steering system 132, a throttle 134, a braking unit 136, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.

[0053] The steering system 132 is operable to adjust the heading of the vehicle 100. In one embodiment, for example, the steering system 132 can be a steering wheel system.

[0054] The throttle 134 is used to control the speed of the engine 118 and, in turn, the speed of the vehicle 100.

[0055] The braking unit 136 is used to control the deceleration of the vehicle 100. The braking unit 136 can use friction to slow the wheels 121.

[0056] In other embodiments, the braking unit 136 can convert the kinetic energy of the wheels 121 into an electric current. The braking unit 136 can also take other forms to slow the wheels 121 and, in turn, control the speed of the vehicle 100.

[0057] The computer vision system 140 is operable to process and analyze images captured by the cameras 130 to identify objects and / or features in the environment surrounding the vehicle 100. The objects and / or features can include traffic signals, road boundaries, and obstacles. The computer vision system 140 can use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 can be used to map the environment, track objects, estimate the speed of objects, and the like.

[0058] The route control system 142 is used to determine the route of travel for the vehicle 100. In some embodiments, the route control system 142 can determine the route of travel for the vehicle 100 in conjunction with data from the sensor system 104, the GPS 122, and one or more predetermined maps.

[0059] The obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise navigate around potential obstacles in the environment of the vehicle 100.

[0060] Of course, in one instance, the control system 106 can include additional components in addition to those shown and described, or some of the components shown can be reduced.

[0061] The vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through the peripherals 108. The peripherals 108 can include a wireless communication system 146, an on-board computer 148, a microphone 150, and / or a speaker 152.

[0062] In some embodiments, the peripherals 108 provide a means for a user of the vehicle 100 to interact with the user interface 116. For example, the onboard computer 148 can provide information to a user of the vehicle 100. The user interface 116 can also operate the onboard computer 148 to receive input from the user. The onboard computer 148 can be operated through a touchscreen. In other cases, the peripherals 108 can provide a means for the vehicle 100 to communicate with other devices located within the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio input) from a user of the vehicle 100. Similarly, the speaker 152 can output audio to a user of the vehicle 100.

[0063] The wireless communication system 146 can wirelessly communicate with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as code division multiple access (CDMA), global system for mobile communications (GSM) / GPRS, or fourth generation (4G) communication, such as LTE. Or fifth generation (5G) communication. The wireless communication system 146 can utilize WiFi and wireless local area network (WLAN) communication. In some embodiments, the wireless communication system 146 can utilize infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 can include one or more dedicated short range communications (DSRC) devices, which can include public and / or private data communication between vehicles and / or roadside stations.

[0064] The power source 110 can provide power to various components of the vehicle 100. In one embodiment, the power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such a battery can be configured as a power source to provide power to various components of the vehicle 100. In some embodiments, the power source 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

[0065] Some or all of the functionality of the vehicle 100 is controlled by a computer system 112. The computer system 112 can include at least one processor 113 that executes instructions 115 stored in a non-transitory computer readable medium, such as a data storage 114. The computer system 112 can also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0066] The processor 113 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special purpose device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Although Figure 1 functionally illustrates the processor, the memory, and the other elements of the computer 110 in the same block, those of ordinary skill in the art will appreciate that the processor, the computer, or the memory can actually include multiple processors, computers, or memories that can or can not be stored in the same physical housing. For example, the memory can be a hard drive or other storage medium located in different housing than the housing that contains the computer 110. Accordingly, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that can or can not operate in parallel. Rather than using a single processor to perform the steps described herein, some components such as the steering assembly and the deceleration assembly can each have their own processor that only performs calculations related to the functionality specific to the component.

[0067] In various aspects described herein, the processor can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0068] In some embodiments, the memory 114 can contain instructions 115 (e.g., program logic) that can be executed by the processor 113 to perform various functions of the vehicle 100, including those described above. The memory 114 can also contain additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the travel system 102, the sensor system 104, the control system 106, and the peripherals 108.

[0069] In addition to instructions 115, memory 114 can store data, such as road maps, route information, the location, orientation, speed, and other such vehicle data for vehicle 100, as well as other information. Such information can be used by vehicle 100 and computer system 112 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0070] In some embodiments, the processor 113 described above can further execute the vehicle parking-out trajectory determination method provided in the embodiments of the present application, so as to realize the following technical effects: after the automatic parking-out is triggered, the vehicle 100 displays the parking-out direction of the vehicle 100, and then the first parking-out trajectory corresponding to the parking-out direction is acquired, thereby improving the success rate of the automatic parking-out of the vehicle 100 and improving the use experience of the automatic parking-out of the vehicle 100. The method for acquiring the first parking-out trajectory corresponding to the parking-out direction can refer to the description in the embodiment shown in FIG. 3 below. For the sake of brevity, details are not described herein.

[0071] User interface 116 is used to provide information to or receive information from a user of vehicle 100. Optionally, user interface 116 can include one or more input / output devices within the set of peripheral devices 108, such as wireless communication system 146, on-board computer 148, microphone 150, and speaker 152.

[0072] Computer system 112 can control the functions of vehicle 100 based on inputs received from various subsystems (e.g., travel system 102, sensor system 104, and control system 106), as well as from user interface 116. For example, computer system 112 can utilize inputs from control system 106 in order to control steering system 132 to avoid obstacles detected by sensor system 104 and obstacle avoidance system 144. In some embodiments, computer system 112 can be operable to provide control over many aspects of vehicle 100 and its subsystems.

[0073] Optionally, one or more of the components described above can be installed separately from or in association with vehicle 100. For example, memory 114 can exist partially or entirely separately from vehicle 100. The components described above can be communicatively coupled together in a wired and / or wireless manner.

[0074] Optionally, the components described above are only an example, and in actual applications, components in each module described above can be added or deleted according to actual needs, and FIG. 1 should not be understood as a limitation on the embodiments of the present application.

[0075] In some examples, an autonomous vehicle traveling on a roadway, such as vehicle 100 above, can identify objects within its surroundings to determine an adjustment to a current speed. The objects can be other vehicles, traffic control devices, or other types of objects. Each identified object can be considered independently and, based on the respective characteristics of the object, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine a speed at which the autonomous vehicle is to adjust.

[0076] Optionally, autonomous vehicle 100 or a computing device associated with autonomous vehicle 100 (such as computer system 112, computer vision system 140, and / or memory 114 of FIG. 1) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surroundings (e.g., traffic, rain, and / or ice on the road, etc.). Optionally, each of the identified objects can depend on the behavior of the others, so all of the identified objects can also be considered together to predict the behavior of a single identified object. Vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine that the vehicle will need to adjust to a steady state (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered to determine the speed of vehicle 100, such as the lateral position of vehicle 100 in the roadway, the curvature of the roadway, the proximity of static and dynamic objects, etc.

[0077] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of vehicle 100 to cause the autonomous vehicle to follow a given trajectory and / or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., a car in an adjacent lane on the roadway).

[0078] In some examples, vehicle 100 can perceive obstacles in the environment in which vehicle 100 is currently located, and plan a pullout trajectory based on the obstacle information and the current state of vehicle 100, and control vehicle 100 to travel according to the pullout trajectory.

[0079] For example, the radar 126, the laser range finder 128 and the camera 130 in the sensor system 104, in cooperation with the computer vision system 140 in the control system 106, can realize the function of the vehicle 100 perceiving the obstacles in the current environment, the computer system 112 can plan the exit trajectory of the vehicle 100 based on the obstacle information received from the sensor system 104 and the control system 106 and the current state of the vehicle 100, and then the computer system 112 can send the exit trajectory to the control system 106, the route control system 142 in the control system 106 tracks the exit trajectory, and the travel system 102 drives according to the exit trajectory.

[0080] The vehicle 100 can be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an entertainment vehicle, an amusement park vehicle, a construction device, a trolley, a golf cart, a train or a trolley, etc., and the embodiments of the present application are not particularly limited.

[0081] For the convenience of understanding, the embodiments of the present application will take the vehicle 100 with the structure shown in FIG. 1 as an example, and the determination method of the vehicle exit trajectory provided by the embodiments of the present application will be specifically described in combination with the drawings and application scenarios.

[0082] FIG. 2 is a flowchart of the determination method of the vehicle exit trajectory provided by one embodiment of the present application, as shown in FIG. 2, the determination method of the vehicle exit trajectory can include:

[0083] Step 201, in response to the automatic exit being triggered, the vehicle 100 acquires the exitable direction.

[0084] Specifically, when the vehicle 100 is parked in a parking space, the user opens the door to enter the vehicle 100, and after starting the vehicle 100, the vehicle 100 can display a first interface through the display screen of the on-board computer 148, and display an automatic parking icon in the first interface. The first interface can be a human machine interface (HMI) interface, and FIG. 3 is a schematic diagram of the first interface provided by one embodiment of the present application, as shown in FIG. 3, in the first interface, 31 is an automatic parking icon, since the vehicle 100 is currently parked in a parking space, after the automatic parking icon 31 is operated (for example, clicked by the user), the automatic exit is triggered, and in response to the automatic exit being triggered, the vehicle 100 acquires the exitable direction of the vehicle 100.

[0085] The above is only one example of the automatic exit being triggered, and other ways of triggering the automatic exit can also be used, and the embodiments of the present application do not limit the triggering method of the automatic exit.

[0086] In this step, the vehicle 100 can acquire the exitable direction in the manner shown in the embodiment of FIG. 9, which will not be described herein.

[0087] In step 202, the vehicle 100 displays the exitable direction and acquires a first exit trajectory corresponding to the exitable direction.

[0088] Specifically, after acquiring the exitable direction, the vehicle 100 can display a second interface on the display screen of the on-board computer 148, and display the exitable direction in the second interface. FIGS. 4(a)-4(c) are schematic diagrams of the second interface according to an embodiment of the present application. As shown in FIG. 4(a), when the vehicle 100 is parked in a vertical parking space, whether the vehicle head is facing the road (vehicle head exit) or the vehicle tail is facing the road (vehicle tail exit), the second interface displayed by the vehicle 100 can be as shown in 41. In the interface shown in 41, the exitable direction includes three directions: left turn, straight, and right turn. The vertical parking space refers to the direction of the vehicle body being perpendicular to the direction of the road when the vehicle is parked in the parking space. The direction of the vehicle body refers to the direction from the vehicle head to the vehicle tail. As shown in FIGS. 4(b)-4(c), when the vehicle 100 is parked in a horizontal parking space, the second interface displayed by the vehicle 100 can be as shown in 42 and 43. Specifically, in FIG. 4(b), the vehicle 100 is parked on the left side of the road, and the interface shown in 42 includes only one direction: right turn. In FIG. 4(c), the vehicle 100 is parked on the right side of the road, and the interface shown in 43 includes only one direction: left turn. The horizontal parking space refers to the direction of the vehicle body being parallel to the direction of the road when the vehicle is parked in the parking space.

[0089] In this embodiment, the vehicle 100 obtaining the first exiting trajectory corresponding to the exitable direction can be regarded as pre-planning the exiting trajectory corresponding to the exitable direction, that is, after the vehicle 100 displays the exitable direction, the vehicle 100 triggers the pre-planning of the first exiting trajectory corresponding to the exitable direction. In actual implementation, the vehicle 100 can pre-plan the first exiting trajectory by using the computer system 112. The obtaining of the first exiting trajectory corresponding to the exitable direction can include: the vehicle 100 plans the first exiting trajectory corresponding to the exitable direction; if the planning of the first exiting trajectory is successful, the vehicle 100 saves the first exiting trajectory; if the planning of the exiting trajectory corresponding to the first exitable direction in the exitable direction fails, the vehicle 100 records an event of the planning failure of the exiting trajectory corresponding to the first exitable direction, and then converts the first exitable direction into an unexitable direction of the vehicle. For example, as shown in FIG. 4(a), assuming that the planning of the exiting trajectory corresponding to the left-turn direction in the three directions of left-turn, straight and right-turn fails, the vehicle 100 converts the left-turn direction into an unexitable direction of the vehicle. At this time, as shown in FIG. 5, compared with FIG. 4(a), the difference between the third interface 51 displayed by the vehicle 100 is that the exitable directions include the straight and right-turn directions. Since the left-turn direction has been converted into an unexitable direction of the vehicle, the left-turn direction is not included in the exitable directions displayed by the third interface 51. FIG. 5 is a schematic diagram of the third interface according to an embodiment of the present application.

[0090] In actual implementation, to avoid continuous sending of planning tasks, for each exitable direction, the vehicle 100 pre-plans the exiting trajectory once. If the planning of the exiting trajectory corresponding to a certain exitable direction fails, the vehicle 100 records an event of the planning failure of the exiting trajectory corresponding to the exitable direction, and no longer pre-plans the exiting trajectory corresponding to the direction.

[0091] In addition, it should be noted that the vehicle 100 can use a hybrid A* algorithm to plan the first parking-out trajectory corresponding to the parking-out direction through the computer system 112. Of course, the embodiment is not limited to this, and other algorithms can also be used to plan the first parking-out trajectory, such as a geometric algorithm. The planning algorithm used for the first parking-out trajectory is not limited in the embodiment. The A* algorithm is used as an example for description as follows: First, initialize the open list and the closed list, and generate the state increment of the to-be-expanded node relative to the current node calculated by the vehicle kinematics constraint offline. Add the starting pose to the open list, expand the to-be-expanded node according to the kinematics constraint and the obstacle avoidance constraint, set the parent node as the current node, delete the starting point from the open list and add it to the closed list. Then repeat the following steps: first, calculate the evaluation function value of all nodes in the open list, select the node with the minimum value as the new expansion node, and remove it from the open list and add it to the closed list; check the nodes that can be expanded according to the vehicle kinematics constraint and at the same time meet the condition of not colliding with the obstacle and not being in the closed list. If the to-be-expanded node is not in the open list, add it to the open list, and set the current node as the parent node; if the to-be-expanded node is already in the open list, calculate the evaluation function value of the to-be-expanded node under the expansion mode, compare it with the original evaluation function value and take the smaller one, and update the parent node. The completion condition of the repeated steps is that if the to-be-expanded node falls within a certain range of the target pose, it is considered as a successful search; and if the open list is empty and the completion condition is not met, the search fails and exits. The hybrid A* algorithm can fully search the feasible solution in the space with obstacles, maximize the acquisition of the feasible trajectory, and realize the parking-out trajectory planning in the complex obstacle scene.

[0092] In some examples, for the parking-out directions shown in FIG. 4(a), the first parking-out trajectory corresponding to each parking-out direction can be as shown in FIG. 6. FIG. 6 is a schematic diagram of the first parking-out trajectory according to an embodiment of the present application. In FIG. 6, 61 is the first parking-out trajectory corresponding to the left-turn direction, 62 is the first parking-out trajectory corresponding to the straight direction, and 63 is the first parking-out trajectory corresponding to the right-turn direction.

[0093] In other examples, for the parking-out directions shown in FIG. 4(b), the first parking-out trajectory corresponding to the parking-out direction can be as shown in FIG. 7. FIG. 7 is a schematic diagram of the first parking-out trajectory according to another embodiment of the present application. In FIG. 7, 71 is the first parking-out trajectory corresponding to the right-turn direction.

[0094] In step 203, the vehicle 100 acquires the selected target parking-out direction from the displayed parking-out directions.

[0095] Specifically, still taking Fig. 4(a) as an example, after the vehicle 100 displays the above-mentioned drivable directions, the user can select a target drivable direction in the interface shown in Fig. 4(a), and the vehicle 100 acquires the selected target drivable direction, which is assumed to be a left-turn direction here.

[0096] In step 204, the vehicle 100 plans a second drivable trajectory corresponding to the target drivable direction.

[0097] In this embodiment, the planning of the second drivable trajectory corresponding to the target drivable direction by the vehicle 100 can be regarded as formal planning, which is triggered after the vehicle 100 acquires the selected target drivable direction. When the vehicle 100 plans the second drivable trajectory corresponding to the target drivable direction, the hybrid A* algorithm can also be used, which will not be described here again, and the vehicle 100 can also plan the second drivable trajectory by means of the computer system 112. It should be noted that the planning priority of the second drivable trajectory is higher than that of the first drivable trajectory. If the first drivable trajectory corresponding to the target drivable direction has not been planned completely when the planning of the second drivable trajectory is triggered, the vehicle 100 supports interrupting the planning task of the first drivable trajectory corresponding to the target drivable direction at any time and directly planning the second drivable trajectory corresponding to the target drivable direction, so as to avoid the problem of slow parking caused by the time point conflict of the first drivable trajectory and the second drivable trajectory.

[0098] Still taking Fig. 4(a) as an example, when the target drivable direction is a left-turn direction, the second drivable trajectory corresponding to the left-turn direction can also be shown as 61 in Fig. 6, that is, the second drivable trajectory can be the same as the first drivable trajectory. Of course, the second drivable trajectory can also be different from the first drivable trajectory, which is not limited in this embodiment.

[0099] In step 205, when the planning of the second drivable trajectory fails, the vehicle 100 acquires a third drivable trajectory corresponding to the target drivable direction from the first drivable trajectory.

[0100] In this embodiment, if the planning of the second drivable trajectory corresponding to the target drivable direction fails, since the first drivable trajectory corresponding to the target drivable direction already exists in the vehicle 100, the vehicle 100 can acquire the third drivable trajectory corresponding to the target drivable direction from the first drivable trajectory.

[0101] In step 206, the vehicle 100 travels according to the third drivable trajectory.

[0102] Specifically, after acquiring the third drivable trajectory corresponding to the target drivable direction, the computer system 112 in the vehicle 100 can send the third drivable trajectory to the control system 106, and the route control system 142 in the control system 106 controls the traveling system 102 to travel according to the third drivable trajectory.

[0103] In the method for determining the vehicle exit trajectory, in response to the automatic exit being triggered, after the vehicle 100 acquires the exitable direction, the vehicle 100 displays the exitable direction and acquires the first exit trajectory corresponding to the exitable direction, then the vehicle 100 acquires the selected target exit direction from the displayed exitable direction, plans the second exit trajectory corresponding to the target exit direction, when the planning of the second exit trajectory fails, the vehicle 100 acquires the third exit trajectory corresponding to the target exit direction from the first exit trajectory, and drives according to the third exit trajectory, so that the vehicle 100 can acquire the first exit trajectory corresponding to the exitable direction after displaying the exitable direction of the vehicle, even if the planning of the second exit trajectory corresponding to the target exit direction selected by the user fails, the vehicle 100 can acquire the third exit trajectory corresponding to the target exit direction from the first exit trajectory, and drive according to the third exit trajectory, thereby improving the success rate of the automatic exit of the vehicle 100 and improving the use experience of the automatic exit of the vehicle 100.

[0104] FIG. 8 is a flowchart of a method for determining a vehicle exit trajectory according to another embodiment of the present application. As shown in FIG. 8, after step 204 in the embodiment shown in FIG. 2, the method can further include:

[0105] Step 801: when the planning of the second exit trajectory is successful, the vehicle 100 drives according to the second exit trajectory.

[0106] As described above, the planning priority of the second exit trajectory is higher than that of the first exit trajectory, so when the planning of the second exit trajectory is successful, the computer system 112 in the vehicle 100 can send the second exit trajectory to the control system 106, and the route control system 142 in the control system 106 controls the driving system 102 to drive according to the second exit trajectory.

[0107] FIG. 9 is a flowchart of a method for determining a vehicle exit trajectory according to another embodiment of the present application. As shown in FIG. 9, in the embodiment shown in FIG. 2, step 201 can include:

[0108] Step 901: in response to the automatic exit being triggered, the vehicle 100 acquires obstacle information in the candidate exit direction of the vehicle 100.

[0109] Specifically, the vehicle 100 can acquire the obstacle information in the candidate exit direction of the vehicle 100 by cooperating with the computer vision system 140 in the control system 106 through the radar 126, the laser range finder 128 and the camera 130 in the sensing system 104.

[0110] Step 902: according to the obstacle information, the vehicle 100 acquires the exitable direction of the vehicle from the candidate exit direction.

[0111] In particular, obtaining the obstacle information in the candidate exit direction of the vehicle can include the vehicle 100 obtaining image frames of the scene around the vehicle, and detecting obstacles in the candidate exit direction of the vehicle frame by frame based on the image frames. In some examples, after the radar 126, the laser range finder 128, and the camera 130 in the vehicle 100 capture the scene around the vehicle 100, the data obtained by the capturing can be sent to the computer vision system 140, and the computer vision system 140 obtains the image frames of the scene around the vehicle. Then the computer vision system 140 can send the image frames to the computer system 112, and the computer system 112 detects obstacles in the candidate exit direction of the vehicle frame by frame.

[0112] In this way, in some examples, obtaining the exitable direction of the vehicle from the candidate exit direction based on the obstacle information can include: if it is determined based on the image frames that there is no obstacle in the candidate exit direction, the computer system 112 determines that the candidate exit direction is the exitable direction of the vehicle 100. In particular, referring to FIG. 4(a), when the vehicle 100 is parked in a vertical parking space, the candidate exit directions include left turn, straight, and right turn, and if it is determined based on the image frames that there is no obstacle in the three directions, the computer system 112 can determine that the three candidate exit directions are all exitable directions of the vehicle 100.

[0113] In other examples, obtaining the exitable direction of the vehicle from the candidate exit direction based on the obstacle information can include: if it is determined based on the previous image frame that there is an obstacle in the candidate exit direction, and it is determined based on the current image frame that there is no obstacle in the candidate exit direction, it is determined that the candidate exit direction is changed from the unexitable direction of the vehicle 100 to the exitable direction of the vehicle 100. That is, in this example, the vehicle 100 detects whether there is an obstacle in the candidate exit direction frame by frame, and if there is an obstacle in a candidate exit direction in the previous image frame, but there is no obstacle in the candidate exit direction in the current image frame, the computer system 112 can determine that the candidate exit direction is changed from the unexitable direction to the exitable direction of the vehicle 100.

[0114] Specifically, FIG. 10 is a schematic diagram of acquiring the drivable direction of the vehicle 100 according to an embodiment of the present application. As shown in FIG. 10, taking the vehicle 100 parked in a vertical parking space as an example, the candidate drivable directions include three directions of left turn, straight and right turn. Referring to the left drawing of FIG. 10, according to the previous image frame, it is determined that there is an obstacle 1001 in the left turn direction. Referring to the right drawing of FIG. 10, according to the current image frame, it is determined that the obstacle 1001 has deviated from the left turn direction, i.e., there is no obstacle in the left turn direction in the current image frame. Then, it is determined that the left turn direction is changed from the non-drivable direction to the drivable direction of the vehicle 100. In this way, as shown in FIG. 11, when the vehicle 100 displays the drivable direction of the vehicle 100 through the HMI interface, the left turn direction is changed from not displayed (as shown in interface 1101) to displayed (as shown in interface 1102). FIG. 11 is a schematic diagram of the display interface of the drivable direction according to an embodiment of the present application.

[0115] Further, in these examples, after determining that the candidate drivable direction is changed from the non-drivable direction of the vehicle 100 to the drivable direction of the vehicle 100, if the candidate drivable direction does not exist in the first drivable trajectory, the vehicle 100 plans the drivable trajectory corresponding to the candidate drivable direction. After the planning of the drivable trajectory corresponding to the candidate drivable direction is successful, the vehicle 100 saves the drivable trajectory corresponding to the candidate drivable direction. If the planning of the drivable trajectory corresponding to the candidate drivable direction fails, the vehicle 100 records the event of the planning failure of the drivable trajectory corresponding to the candidate drivable direction, and changes the candidate drivable direction from the drivable direction of the vehicle 100 to the non-drivable direction of the vehicle 100. In this embodiment, in order to avoid continuous sending of planning tasks, the vehicle 100 performs pre-planning of the drivable trajectory once for each drivable direction. Therefore, if the candidate drivable direction exists in the first drivable trajectory, the vehicle 100 will not plan the drivable trajectory corresponding to the candidate drivable direction again.

[0116] That is, in these examples, taking FIG. 10 and FIG. 11 as examples, after determining that the left-turn direction is turned into the drivable direction of the vehicle 100, and the vehicle 100 displays the left-turn direction through the interface 1102, the vehicle 100 can first determine whether there is a parking-out trajectory corresponding to the left-turn direction in the first parking-out trajectory, and if not, the vehicle 100 can plan the parking-out trajectory corresponding to the left-turn direction. The parking-out trajectory corresponding to the left-turn direction obtained by planning can be as shown in 61 in FIG. 6. Since in the above examples, the vehicle 100 detects whether there is an obstacle in the candidate parking-out direction frame by frame, as long as there is no obstacle in the left-turn direction in the current image frame, it can be determined that the left-turn direction is turned from the non-drivable direction to the drivable direction of the vehicle 100, and then the parking-out trajectory corresponding to the left-turn direction can be planned. Compared with the solution of setting a sleep threshold provided by the prior art, the present embodiment does not need to wait for the sleep time, and can plan the parking-out trajectory corresponding to the drivable direction in time, shorten the time for planning the parking-out trajectory, and improve the planning efficiency of the parking-out trajectory. In addition, from the trajectory shown in 61 in FIG. 6, after there is no obstacle in the left-turn direction, the vehicle 100 plans the parking-out trajectory corresponding to the left-turn direction without detouring the obstacle. The planned parking-out trajectory is more in line with the actual scene, which can not only improve the success rate of automatic parking of the vehicle 100, but also improve the user experience of automatic parking of the vehicle 100.

[0117] In addition, if the parking-out trajectory corresponding to the left-turn direction fails to be planned, the vehicle 100 records the event that the parking-out trajectory corresponding to the left-turn direction fails to be planned, and turns the left-turn direction from the drivable direction of the vehicle 100 to the non-drivable direction of the vehicle 100. In this way, the vehicle 100 will also turn from displaying the left-turn direction to not displaying the left-turn direction when displaying the drivable direction of the vehicle 100 through the HMI interface.

[0118] It can be understood that in some examples, according to the above obstacle information, the drivable direction of the vehicle from the candidate parking-out direction can be: if it is determined according to the last image frame that there is no obstacle in the candidate parking-out direction, and it is determined according to the current image frame that there is an obstacle in the candidate parking-out direction, the vehicle 100 can determine that the candidate parking-out direction is turned from the drivable direction of the vehicle 100 to the non-drivable direction of the vehicle 100. That is, in these examples, when the vehicle 100 detects whether there is an obstacle in the candidate parking-out direction frame by frame, if there is no obstacle in a certain candidate parking-out direction in the last image frame, but there is an obstacle in the candidate parking-out direction in the current image frame, it can be determined that the candidate parking-out direction is turned from the drivable direction to the non-drivable direction of the vehicle 100.

[0119] Specifically, FIG. 12 is a schematic diagram of acquiring the drivable directions of the vehicle 100 according to another embodiment of the present application. As shown in FIG. 12, taking the vehicle 100 parked in a vertical parking space as an example, the candidate drivable directions include three directions of left turn, straight driving and right turn, referring to the left drawing of FIG. 12, it is determined according to the previous image frame that there is no obstacle 1201 in the straight driving direction, and in the right drawing of FIG. 12, it is determined according to the current image frame that the obstacle 1201 has moved to the straight driving direction, that is, there is an obstacle in the straight driving direction in the current image frame, so it can be determined that the straight driving direction is changed from the drivable direction to the non-drivable direction of the vehicle 100. Thus, as shown in FIG. 13, when the vehicle 100 displays the drivable directions of the vehicle 100 through the HMI interface, it is changed from displaying the straight driving direction (as shown in interface 1301) to not displaying the straight driving direction (as shown in interface 1302), and FIG. 13 is a schematic diagram of the display interface of the drivable directions according to another embodiment of the present application.

[0120] In the method for determining the vehicle driving trajectory provided by the embodiments of the present application, after the vehicle 100 displays the drivable directions of the vehicle 100, the first driving trajectory corresponding to the drivable direction is planned, and after the user selects the target driving direction, even if the second driving trajectory corresponding to the target driving direction fails to be planned, the vehicle 100 can acquire the third driving trajectory corresponding to the target driving direction from the first driving trajectory, and controls the vehicle to drive according to the third driving trajectory, thereby improving the success rate of automatic driving of the vehicle and improving the use experience of automatic driving of the vehicle. In addition, in the embodiments of the present application, the vehicle 100 detects whether there is an obstacle in the candidate driving direction frame by frame, if there is an obstacle in a certain candidate driving direction in the previous image frame, but there is no obstacle in the candidate driving direction in the current image frame, it can be determined that the candidate driving direction is changed from the non-drivable direction to the drivable direction of the vehicle 100, and then the first driving trajectory corresponding to the drivable direction is planned. Compared with the solution of setting the sleep threshold provided by the prior art, the embodiments of the present application do not need to wait for the sleep time, and the driving trajectory corresponding to the drivable direction can be planned in time, thereby shortening the time for planning the driving trajectory and improving the planning efficiency of the driving trajectory. In addition, in the embodiments of the present application, the vehicle 100 acquires the drivable direction of the vehicle 100 without obstacles, therefore, the driving trajectory corresponding to the drivable direction planned by the vehicle 100 does not detour the obstacles, and the planned driving trajectory is more in line with the actual scene, which can not only improve the success rate of automatic driving of the vehicle, but also improve the use experience of automatic driving of the vehicle.

[0121] It can be understood that part or all of the steps or operations in the above embodiments are only examples, and the embodiments of the present application can also perform other operations or various modifications of the operations. In addition, each step can be executed in a different order from the above embodiments, and it is possible that not all the operations in the above embodiments are executed.

[0122] It can be understood that, in order to achieve the above functions, the vehicle comprises hardware and / or software modules corresponding to the functions. The algorithm steps of each example described in combination with the embodiments disclosed in the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application of the technical solution and the design constraints. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered beyond the scope of the present application.

[0123] The present embodiment can divide the functional modules of the vehicle according to the above method embodiments. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the present embodiment is illustrative, and is only a logical functional division. Actual implementation can have another division manner.

[0124] FIG. 14 is a structural schematic diagram of a vehicle provided by another embodiment of the present application. In the case of dividing each functional module according to each function, FIG. 14 shows a possible composition schematic diagram of a vehicle 1400 involved in the above embodiments. As shown in FIG. 14, the vehicle 1400 can include a detection unit 1401, a processing unit 1402, and a control unit 1403.

[0125] The detection unit 1401 can be used to support the vehicle 1400 to perform steps 901 and the like, and / or other processes of the technical solutions described in the embodiments of the present application.

[0126] The processing unit 1402 can be used to support the vehicle 1400 to perform steps 201 to 205 and steps 902 and the like, and / or other processes of the technical solutions described in the embodiments of the present application.

[0127] The control unit 1403 can be used to support the vehicle 1400 to perform steps 206 and steps 801 and the like, and / or other processes of the technical solutions described in the embodiments of the present application.

[0128] It should be noted that all related contents of each step involved in the above method embodiments can be cited to the function description of the corresponding functional module, which will not be repeated here.

[0129] The vehicle 1400 provided by the present embodiment is used to perform the vehicle parking-out trajectory determination method provided by the embodiments shown in FIGS. 2 to 13 of the present application, and thus can achieve the same effect as the above method.

[0130] It should be understood that the vehicle 1400 can correspond to the vehicle 100 shown in FIG. 1. Among them, the function of the detection unit 1401 can be realized by the sensor system 104 in the vehicle 100 shown in FIG. 1; the function of the processing unit 1402 can be realized by the computer system 112 in the vehicle 100 shown in FIG. 1; the function of the control unit 1403 can be realized by the control system 106 in the vehicle 100 shown in FIG. 1.

[0131] In the case of using integrated modules, the vehicle 1400 can include a processing module, a storage module and a communication module.

[0132] Among them, the processing module can be used to control and manage the actions of the vehicle 1400, for example, it can be used to support the vehicle 1400 to perform the steps performed by the detection unit 1401, the processing unit 1402 and the control unit 1403 described above. The storage module can be used to support the vehicle 1400 to store program codes and data, etc. The communication module can be used to support the vehicle 1400 to communicate with other devices.

[0133] Among them, the processing module can be a processor or a controller, which can realize or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present application, for example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The processor can also be a combination of realizing computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc. The storage module can be a memory. The communication module can be a device for interacting with other electronic devices, such as radio frequency circuit, Bluetooth chip and / or Wi-Fi chip, etc.

[0134] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, when the computer program is run on a computer, the computer is caused to execute the method provided by the embodiments shown in FIG. 2 to FIG. 13.

[0135] The embodiments of the present application also provide a computer program product, which includes a computer program, when the computer program is run on a computer, the computer is caused to execute the method provided by the embodiments shown in FIG. 2 to FIG. 13.

[0136] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone. Wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" and the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0137] Those skilled in the art can appreciate that the units and algorithm steps described in the embodiments disclosed herein can be realized by electronic hardware, computer software and combination of electronic hardware and computer software. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0139] In several embodiments provided in the present application, any function realized in the form of a software function unit and sold or used as an independent product can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0140] The above is merely specific embodiments of the present application, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining a vehicle exit trajectory, characterized in that The method comprises: in response to automatic parking-out being triggered, obtaining a parking-out direction of the vehicle; displaying the parking-out direction and obtaining a first parking-out trajectory corresponding to the parking-out direction; obtaining a target parking-out direction selected from the displayed parking-out direction; planning a second parking-out trajectory corresponding to the target parking-out direction; when the planning of the second parking-out trajectory fails, obtaining a third parking-out trajectory corresponding to the target parking-out direction from the first parking-out trajectory; controlling the vehicle to travel according to the third parking-out trajectory.

2. The method of claim 1, wherein, After the planning of the second parking-out trajectory corresponding to the target parking-out direction, the method further comprises: when the planning of the second parking-out trajectory succeeds, controlling the vehicle to travel according to the second parking-out trajectory.

3. The method of claim 1, wherein, The obtaining of the parking-out direction of the vehicle comprises: obtaining obstacle information on a candidate parking-out direction of the vehicle; obtaining the parking-out direction of the vehicle from the candidate parking-out direction according to the obstacle information.

4. The method of claim 3, wherein, The obtaining of the obstacle information on the candidate parking-out direction of the vehicle comprises: obtaining an image frame of a surrounding scene of the vehicle; frame by frame, detecting obstacles on the candidate parking-out direction of the vehicle according to the image frame.

5. The method of claim 4, wherein, The obtaining of the parking-out direction of the vehicle from the candidate parking-out direction according to the obstacle information comprises: if it is determined according to the image frame that there is no obstacle on the candidate parking-out direction, determining that the candidate parking-out direction is the parking-out direction of the vehicle.

6. The method of claim 4, wherein, The obtaining of the parking-out direction of the vehicle from the candidate parking-out direction according to the obstacle information comprises: if it is determined according to a previous image frame that there is an obstacle on the candidate parking-out direction, and it is determined according to a current image frame that there is no obstacle on the candidate parking-out direction, determining that the candidate parking-out direction is changed from the non-parking-out direction of the vehicle to the parking-out direction of the vehicle.

7. The method of claim 6, wherein, After the determination that the candidate parking-out direction is changed from the non-parking-out direction of the vehicle to the parking-out direction of the vehicle, the method further comprises: if there is no parking-out trajectory corresponding to the candidate parking-out direction in the first parking-out trajectory, planning the parking-out trajectory corresponding to the candidate parking-out direction; after the planning of the parking-out trajectory corresponding to the candidate parking-out direction succeeds, saving the parking-out trajectory corresponding to the candidate parking-out direction.

8. The method of claim 7, wherein, After the planning of the parking-out trajectory corresponding to the candidate parking-out direction, the method further comprises: if the planning of the parking-out trajectory corresponding to the candidate parking-out direction fails, recording an event of the planning of the parking-out trajectory corresponding to the candidate parking-out direction failing; changing the candidate parking-out direction from the parking-out direction of the vehicle to the non-parking-out direction of the vehicle.

9. The method of claim 1, wherein, The obtaining of the first parking-out trajectory corresponding to the parking-out direction comprises: planning the first parking-out trajectory corresponding to the parking-out direction; if the planning of the first parking-out trajectory succeeds, saving the first parking-out trajectory.

10. The method of claim 9, wherein, After the planning of the first parking-out trajectory corresponding to the parking-out direction, the method further comprises: if the planning of the parking-out trajectory corresponding to a first parking-out direction in the parking-out direction fails, recording an event of the planning of the parking-out trajectory corresponding to the first parking-out direction failing; turning the first drivable direction into a non-drivable direction for the vehicle.

11. A vehicle characterized by comprising: comprise: one or more processors; a memory; a plurality of applications; and one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions which, when executed by the vehicle, cause the vehicle to carry out the method of any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to carry out the method of any one of claims 1-10.

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