CN115626158B

CN115626158B - Vehicle steering anti-rubbing method and related device

Info

Publication number: CN115626158B
Application number: CN202211560240.8A
Authority: CN
Inventors: 张志冲; 黄志文; 师广涛
Original assignee: Shenzhen Xihua Technology Co Ltd
Current assignee: Shenzhen Xihua Technology Co Ltd
Priority date: 2022-12-07
Filing date: 2022-12-07
Publication date: 2023-03-07
Anticipated expiration: 2042-12-07
Also published as: CN115626158A; CN116142179A

Abstract

The application provides a vehicle steering scratch-proof method and a related device, which are applied to an automatic driving area controller of a target vehicle, wherein the method comprises the following steps: determining a reference track scene according to the historical driving image of the target vehicle; determining X reference position points in a reference track scene; executing related operation aiming at the X reference position points, and obtaining Y key position points and a plurality of standard vehicle body postures corresponding to each key position point in the Y key position points from the X reference position points; and when the target vehicle is detected to enter the reference track scene, executing related operations, and finishing anti-scratch safety detection and reminding on the target vehicle at the detection area with preset distances to the Y key position points, so that a scratch event can not occur when the target vehicle performs continuous steering operation. Therefore, the condition that the adjustable space of the vehicle is too small due to too late reminding time of the user is avoided, and the use experience of the user is improved.

Description

Vehicle steering anti-rubbing method and related device

Technical Field

The application belongs to the technical field of general data processing of the Internet industry, and particularly relates to a vehicle steering anti-rubbing method and a related device.

Background

In some scenes, when a user drives a vehicle to perform steering operation, due to the limitation of factors such as steering space, the vehicle can be scratched to a wall body at certain angles, and the vehicle body is damaged. In order to solve the problem in the prior art, a scratch prevention reminding function is added, when a vehicle of a user approaches a wall body, the vehicle machine can remind the user that the current distance is too close, but at the moment, because the distance from the vehicle of the user to the wall body is already close, the adjustable space of the user for the vehicle is extremely small, a scratch event is still more likely to occur during adjustment, and the user experience is influenced.

Disclosure of Invention

The application provides a vehicle steering anti-scratch method and a related device, which aim to solve the problems and optimize user experience.

In a first aspect, an embodiment of the present application provides a method for preventing scratching during vehicle steering, which is applied to an automatic driving domain controller of an automatic driving system of a target vehicle, where the automatic driving system includes the automatic driving domain controller and a sensor module arranged in a body of the target vehicle, the automatic driving domain controller is in communication connection with the sensor module, and the method includes:

determining a reference track scene passed by the target vehicle according to the historical driving image of the target vehicle, wherein the reference track scene refers to a track scene in which the number of times the target vehicle passes is greater than a preset number of times in the historical driving image, the reference track scene comprises a first lane and a second lane, and the first lane is intersected with the second lane;

determining X reference position points in the reference track scene, wherein the reference position points refer to starting position points of the target vehicle driving to the second lane by performing continuous steering operation on the first lane, and X is a positive integer;

performing the following operations a, b, c for the X reference position points:

a. determining N body postures of the target vehicle at a currently processed reference position point, wherein the body postures are used for indicating an included angle between a straight line where a body of the target vehicle is located and a straight line where a target wall body is located, and the target wall body is a wall body borne by the first lane in the direction where a head of the target vehicle points when continuous steering operation is performed;

b. determining N steering tolerances of the target vehicle at the currently processed reference position point under the constraint of the N body postures, wherein the steering tolerances are used for indicating the difficulty degree of the target vehicle in performing steering operation on the currently processed reference position point, and N is a positive integer;

c. judging whether the steering fault tolerance larger than a preset fault tolerance exists in the N steering fault tolerances;

if so, marking the currently processed reference position point as a key position point; screening M steering fault tolerance degrees which are larger than preset fault tolerance degrees from the N steering fault tolerance degrees, and determining M standard vehicle body postures corresponding to the M steering fault tolerance degrees, wherein M is a positive integer and is less than or equal to N;

if not, continuing to process the next reference position point until all the X reference position points are processed to obtain Y key position points, wherein Y is an integer and is less than or equal to X;

when the target vehicle is detected to enter the reference track scene, the following operations d, e, f, g and h are executed:

d. acquiring detection position points when the target vehicle reaches a detection area associated with the Y key position points and a first vehicle body posture when the target vehicle reaches the detection area, wherein the detection area is positioned between the Y key position points and a track starting point, and the track starting point is a position point when the target vehicle enters the reference track scene;

e. determining Y probability values of the target vehicle reaching the Y key position points according to the detection position points and the first vehicle body posture, and marking the key position point with the maximum probability value as a target key position point;

f. determining a second body posture of the target vehicle at the target key position point according to the detection position point, the first body posture and the target key position point;

g. acquiring a plurality of standard vehicle body postures corresponding to the target key position points;

h. if the second body posture is not included in the plurality of standard body postures, outputting auxiliary voice, wherein the auxiliary voice is used for indicating a user to adjust the running route of the target vehicle, so that the target vehicle cannot scratch when performing continuous steering operation and entering the second lane.

In a second aspect, the embodiment of this application provides a device is prevented cutting with fingers and is rubbed to vehicle turns to, is applied to the autopilot domain controller of the autopilot system of target vehicle, autopilot system includes autopilot domain controller with set up in the sensor module of target vehicle automobile body, autopilot domain controller with sensor module communication connection, the device includes:

the first determining unit is used for determining a reference track scene passed by the target vehicle according to the historical driving image of the target vehicle, wherein the reference track scene refers to a track scene in which the number of times the target vehicle passes in the historical driving image is greater than a preset number of times, the reference track scene comprises a first lane and a second lane, and the first lane is intersected with the second lane;

a second determination unit, configured to determine X reference position points in the reference trajectory scene, where the reference position points are starting position points of the target vehicle that performs a continuous steering operation on the first lane and drives to the second lane, where X is a positive integer;

a first execution unit, configured to execute the following operations a, b, and c for the X reference position points:

if not, continuing to process the next reference position point until all the X reference position points are processed, and obtaining Y key position points, wherein Y is an integer and is less than or equal to X;

a second executing unit, configured to, when it is detected that the target vehicle enters the reference trajectory scene, execute the following operations d, e, f, g, h:

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, and one or more programs, stored in the memory and configured to be executed by the processor, the program including instructions for performing the steps in the first aspect of the embodiment of the present application.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium on which a computer program/instruction is stored, where the computer program/instruction, when executed by a processor, implements the steps in the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product, where the computer program product comprises a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps as described in the first aspect of embodiments of the present application.

It can be seen that, in the embodiment of the application, the automatic driving area controller firstly determines a reference track scene through which a target vehicle passes at a high frequency according to a historical driving image of the target vehicle, then determines X starting points, namely reference position points, of the target vehicle in the scene for performing steering operation, and then processes the X reference position points to obtain Y key position points with low difficulty in performing steering operation and corresponding standard vehicle body postures of the Y key position points; when the target vehicle actually passes through the reference track scene, the automatic driving area controller executes a steering auxiliary detection function: firstly, acquiring a detection position point and a first vehicle body posture when a target vehicle reaches a detection area, and determining a key position point which is most likely to be reached by the target vehicle, namely a target key position point, and a second vehicle body posture when the target vehicle reaches the target key position point according to the position point and the first vehicle body posture at the moment; if the standard vehicle body postures corresponding to the target key position points do not comprise the second vehicle body posture, the difficulty of executing the steering operation of the target vehicle at the target key position points is higher, and the auxiliary voice is output to assist a user in adjusting the driving route, so that the steering operation is safely executed, and scratch and rub events are avoided. Therefore, the scratch-proof reminding time can be advanced, the situation that the adjustable space of the vehicle is too small due to the fact that the reminding time is too late for a user is avoided, the auxiliary voice is output to assist the user in adjusting the vehicle, and the use experience of the user is optimized.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a block diagram of an automatic driving system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a vehicle steering anti-scratch method provided in an embodiment of the present application;

FIG. 3a is an exemplary diagram of a reference trajectory scenario provided by an embodiment of the present application;

FIG. 3b is a schematic diagram of an example of another reference trajectory scenario provided by an embodiment of the present application;

FIG. 3c is an exemplary diagram of yet another reference trajectory scenario provided by an embodiment of the present application;

FIG. 3d is an exemplary diagram of yet another reference trajectory scenario provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of an example of a further reference trajectory scenario provided by an embodiment of the present application;

fig. 5a is a block diagram illustrating functional units of a vehicle steering anti-scratch device according to an embodiment of the present application;

fig. 5b is a block diagram of functional units of another vehicle steering anti-scratch device provided in the embodiment of the present application;

fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a block diagram of an automatic driving system according to an embodiment of the present disclosure. As shown in fig. 1, the automatic driving system 10 at least includes the automatic driving area controller 11 and a sensor module 12 disposed on the body of the target vehicle, and the automatic driving area controller 11 is in communication connection with the sensor module 12.

The automatic driving area controller 11 is configured to control the target vehicle to achieve an automatic driving function, and further determine a reference trajectory scene where the target vehicle passes through at a high frequency according to a historical driving image in an idle state, analyze a vehicle body posture of the target vehicle detected by the sensor module 12 and an environment state around the vehicle, further determine a plurality of key position points in the scene and standard vehicle body postures corresponding to the key position points, and analyze a detection position point and a vehicle body posture detected by the sensor module 12 in a detection area when the target vehicle actually enters the reference trajectory scene, thereby determining whether a current state of the target vehicle can safely execute a steering operation, and achieve an early warning of preventing scratch of vehicle steering.

The sensor module 12 may include an external sensor for detecting information about the surroundings of the target vehicle in real time and an internal sensor for measuring the posture of the body of the target vehicle. The external sensor may include at least one of an image sensor, a distance measuring sensor, a Global Positioning System (GPS) receiver, and the like mounted in a front side, a side, and a rear side of the vehicle. The information about the surrounding environment of the target vehicle may include information about a driving lane of the target vehicle and information about a driving lane into which the target vehicle enters after performing a steering operation, that is, information about a first lane and a second lane, which may include lane width, lane length, and the like, but is not limited thereto.

The following describes a vehicle steering anti-rubbing method provided by the embodiment of the application.

Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle steering anti-scratch method provided in an embodiment of the present application, where the method is applied to an autonomous driving area controller 11 in an autonomous driving system 10 shown in fig. 1, and as shown in fig. 2, the method includes:

step 201, determining a reference track scene where the target vehicle passes according to the historical driving image of the target vehicle.

The reference track scene is a track scene in which the number of times that the target vehicle passes through in the historical driving image is greater than a preset number of times, the reference track scene comprises a first lane and a second lane, the first lane and the second lane are intersected, and the preset number of times can be obtained through comprehensive determination according to historical data or user-defined setting. For example, the reference track scene may be an underground garage where the user lives, an underground garage where the user works, or the like.

Step 202, determining X reference position points in the reference trajectory scene.

Wherein the reference position point is a starting position point of the target vehicle driving to the second lane by performing continuous steering operation on the first lane, and X is a positive integer.

Referring to fig. 3a, fig. 3a is an exemplary schematic diagram of a reference trajectory scenario provided by an embodiment of the present application, and as shown in fig. 3a, in this example, the target vehicle travels through a first lane 301 and then starts to perform a continuous right-turn operation at a reference location point 303 to a second lane 302. It is understood that when the traveling track of the target vehicle is the lane 301 on which the left-hand steering operation is performed by the lane 302, then the first lane is the lane 302 in the figure and the second lane is the lane 301 in the figure. That is, the first lane and the second lane need to be determined according to specific situations due to different track scenes and different driving tracks, and the illustration in this example is only an exemplary illustration and is not a unique limitation.

Step 203, performing the following operations a, b, c for the X reference position points:

a. determining N body poses of the target vehicle at a currently processed reference position point;

the vehicle body posture is used for indicating an included angle between a straight line where a vehicle body of the target vehicle is located and a straight line where a target wall body is located, and the target wall body is a wall body borne by the first vehicle channel in the direction where a vehicle head of the target vehicle points when continuous steering operation is performed.

Referring to fig. 3b, fig. 3b is an exemplary schematic diagram of another reference trajectory scenario provided in the embodiment of the present application, and as shown in fig. 3b, one body posture of the target vehicle at the currently processed reference position point 304 is a body posture 30, when the vehicle head points to a straight line 306 of a target wall, the body posture is represented by an included angle α between the straight line 305 of the body of the target vehicle and the straight line 306 of the target wall. Specifically, when the body posture of the target vehicle is the body posture as shown in fig. 3a, the straight line where the body of the target vehicle is located is parallel to the straight line 306 where the target wall is located, and the included angle α is equal to 0. In another possible example, please refer to fig. 3c, fig. 3c is a schematic diagram of another example of a reference trajectory scene provided in the embodiment of the present application, in this example, as shown in fig. 3c, another body posture of the target vehicle at the reference position point 304 is a body posture 31, at this time, the tail of the vehicle points to the straight line 306 of the target wall, and when a graph enclosed by the straight line 305, the straight line 306, and the straight line 307 is an isosceles triangle with the straight line 305 and the straight line 307 as waists, an included angle between the straight line 307 of the body and the straight line 306 of the target wall is also α, and a situation that the same included angle at the same reference position point corresponds to different body postures occurs, which causes a calculation error. To avoid this situation, the body posture 31 of the target vehicle at the reference position point 304 is now represented by the obtuse included angle β between the straight line 307 and the straight line 306 of the target wall, in this particular scenario, β =180 ° - α.

b. Determining N steering tolerances of the target vehicle at the currently processed reference location point under the constraints of the N body poses;

and the steering fault tolerance is used for indicating the difficulty degree of the target vehicle in steering operation on the currently processed reference position point, and N is a positive integer. The higher the steering tolerance is, the easier it is when the user drives the target vehicle to perform the steering operation at the current body posture on the currently processed reference position point is indicated, that is, the smaller the possibility of the scratch event occurs.

In one possible example, said determining N steering tolerances of said target vehicle at said currently processed reference location points under constraints of said N body poses comprises: performing the following operations for the N body postures: acquiring a minimum rotation angle of a steering wheel of the target vehicle at a currently processed reference position point under the constraint of a currently processed vehicle body posture, wherein the minimum rotation angle is used for indicating a minimum distance between a head of the target vehicle and a first wall body when the target vehicle performs continuous steering operation, and the first wall body is a wall body borne by the second lane in the direction pointed by the head of the target vehicle when the target vehicle performs continuous steering operation; acquiring a maximum rotation angle of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the maximum rotation angle is used for indicating a minimum distance between the vehicle body of the target vehicle and a target corner area when the target vehicle performs continuous steering operation, the target corner area is an intersection area between the target wall body and a second wall body, and the second wall body is a wall body which is carried by the second lane and is opposite to the first wall body; determining a rotatable angular range of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the minimum rotation angle and the maximum rotation angle; determining steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the rotatable angle range; and continuously processing the next vehicle body posture until the N vehicle body postures are completely processed, and obtaining N steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the N vehicle body postures.

Exemplarily, please refer to fig. 3d, where fig. 3d is an exemplary diagram of still another reference trajectory scenario provided by an embodiment of the present application, and as shown in fig. 3d, the minimum rotation angle of the steering wheel of the target vehicle refers to a rotation angle of the steering wheel when the target vehicle performs a steering operation 331 at a currently processed reference position point 304 to reach a position point 34 with a currently processed body posture 33, where when the target vehicle reaches the position point 34, a minimum distance is between a head of the target vehicle and a first wall 308, that is, a critical point where a scratch event occurs; the maximum rotation angle of the steering wheel of the target vehicle refers to the rotation angle of the steering wheel when the target vehicle performs a turning operation 332 at the currently processed reference position point 304 in the currently processed body posture 33 and reaches the position point 35, wherein when the target vehicle reaches the position point 35, the body of the target vehicle has a minimum distance with the target corner region 309, that is, a critical point at which a scratch event occurs, and wherein the target corner region 309 refers to an intersection region between the target wall and the second wall 310. The minimum rotation angle and the maximum rotation angle of the steering wheel of the target vehicle can be detected in real time through the sensor module to obtain related data, illustratively, the minimum rotation angle of the steering wheel of the target vehicle is 40 degrees, the maximum rotation angle of the steering wheel is 360 degrees, which indicates that a scratch event occurs when the rotation angle of the steering wheel of the target vehicle is less than 40 degrees or greater than 360 degrees, and the range of the rotation angle is [40 degrees and 360 degrees ], that is, in the specific case of the example, when the rotation angle of the steering wheel of the target vehicle is within the range, the scratch event does not occur when the steering operation is performed, so that the steering fault tolerance is further determined according to the range of the rotation angle.

Therefore, in the example, the automatic driving area controller determines the rotatable angle range of the steering wheel through the minimum rotation angle and the maximum rotation angle of the steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, so that the steering fault tolerance is determined, the accuracy of scene analysis is improved, the detection accuracy when the target vehicle actually enters the scene is ensured, and the use experience of a user is optimized.

In one possible example, said determining a steering tolerance of said target vehicle at said current processed reference location point under constraints of said current processed body attitude from said rotatable angular range comprises: calculating a manipulability of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the rotatable angle range, the manipulability being used for representing a degree of difficulty of a user driving the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture; and determining the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture according to the maneuverability.

The maximum rotation angle of the steering wheel of the target vehicle in the same rotation direction can be related to the degree of maneuverability, and due to the difference of vehicle structures, the maximum rotation angle of the steering wheel in the same rotation direction can also have difference. In this example, it is noted that the maximum rotation angle of the steering wheel of the target vehicle in the same rotation direction is 1.5 turns, i.e., 540 °, the rotatable angle range is [40 °,360 °, i.e., the rotation angle is 320 °, the steerable degree may be 320 °/540 ° × 100% ≈ 59.26%, and finally the steering tolerance is further determined according to the steerable degree.

Therefore, in the example, the automatic driving area controller calculates the controllability of the target vehicle through the rotatable angle range, so that the steering fault tolerance is further determined, the accuracy of scene analysis is improved, the detection accuracy when the target vehicle actually enters the scene is ensured, and the use experience of a user is optimized.

In one possible example, the determining, according to the steerability, the steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture includes: and inquiring a pre-established incidence relation table according to the maneuverability to obtain the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the pre-established incidence relation table comprises a plurality of maneuverability and a plurality of steering fault tolerances.

The pre-created association relationship table may be a plurality of manipulability degrees and a plurality of corresponding steering tolerance degrees obtained through statistical analysis of historical empirical data, and it can be understood that the steering tolerance degrees and the manipulability degrees are in a positive correlation relationship, that is, the greater the manipulability degree of the currently processed reference position point under the constraint of the currently processed vehicle body posture, the greater the steering tolerance degree of the target vehicle is.

Therefore, in the example, the automatic driving domain controller obtains the association relationship between the controllability and the steering fault tolerance through table lookup, so that the steering fault tolerance of the target vehicle under the current processing scene is determined according to the obtained controllability, and the detection accuracy of the target vehicle when actually entering the scene is improved.

In other possible examples, the determining, according to the steerability, the steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture further comprises: and determining the value of the controllability as the value of the steering fault tolerance. For example, if the target vehicle has a steerability of 59.26% at the currently processed reference position point under the constraint of the currently processed body attitude, the corresponding steering tolerance value is also 59.26%. Therefore, the data processing amount is reduced, and the processing efficiency is improved on the basis of ensuring the detection accuracy.

if so, marking the currently processed reference position point as a key position point; and screening M steering fault tolerance degrees which are larger than preset fault tolerance degrees from the N steering fault tolerance degrees, and determining M standard vehicle body postures corresponding to the M steering fault tolerance degrees.

Wherein M is a positive integer and M is less than or equal to N. The preset fault tolerance can be obtained by statistical analysis of historical empirical data, and can be flexibly changed according to the driving experience of the user so as to adapt to different requirements of different users. Illustratively, if it is noted that 5 steering fault tolerance of the currently processed reference position point under the constraint of 5 vehicle body postures are respectively 30%, 40%, 60%, 65% and 80%, and the preset fault tolerance is 50%, there are 60%, 65% and 80% steering fault tolerance greater than the preset fault tolerance, that is, M =3, and the three standard vehicle body postures corresponding to the three steering fault tolerances are determined by inverse mapping. The reference position point currently processed at this time is marked as a key position point representing that under the position point, there is a standard body posture that makes the target vehicle turn safely.

If not, continuing to process the next reference position point until all the X reference position points are processed, and obtaining Y key position points.

Wherein Y is an integer and Y is less than or equal to X. It can be understood that when Y =0, it indicates that the steering tolerance of the X reference position points in the reference trajectory scene is less than the preset steering tolerance, that is, the difficulty of the target vehicle performing the steering operation at all the reference position points in the trajectory scene is at a high difficulty. At this time, according to the user requirement, the preset fault tolerance can be selected to be changed or the track scene is skipped to be processed, and the next track scene with the passing times larger than the preset times is processed. For example, some users have rich driving experience, and can control the safe steering of the vehicle even if the difficulty of steering operation is high, and at the moment, the preset fault tolerance can be reduced according to the requirements of the users, and the track scene is processed again; and optionally, when the user passes through the track scene, the user can output prompt voice to prompt the user that the scene is complex in steering road conditions, and the user is reminded of safety.

In one possible example, after the screening out M steering tolerances from the N steering tolerances that are greater than a preset tolerance and determining M standard body poses corresponding to the M steering tolerances, the method further comprises: and creating a mapping relation table associated with the currently processed reference position point, wherein the mapping relation table associated with the currently processed reference position point comprises mapping relations between the currently processed reference position point and the M standard body postures.

For example, it is determined that 5 body postures are respectively 30 °, 120 °, 60 °, 80 °, and 0 ° for the currently processed reference position point, the corresponding 5 steering fault tolerance degrees are respectively 30%, 40%, 60%, 65%, and 80%, and the preset fault tolerance degree is 50%, then it may be determined that 3 standard body postures are 60 °, 80 °, and 0 °, and at this time, the mapping relationship between the reference position point and the 3 standard body postures is established. Alternatively, the coordinates (x) of the reference position point may be determined by establishing a two-dimensional rectangular coordinate system ₀ ，y ₀ ) Thereby correlating the currently processed reference position point and the above-mentioned 3 standard body postures on a data level.

Therefore, in the example, the automatic driving area controller associates the determined standard vehicle body posture with the currently processed reference position point in the form of the mapping relation table, so that data processing is facilitated when the target vehicle actually enters the detection area for detection, and the detection efficiency is improved.

Step 204, when it is detected that the target vehicle enters the reference track scene, performing the following operations d, e, f, g, h:

d. and acquiring a detection position point when the target vehicle reaches a detection area associated with the Y key position points and a first vehicle body posture when the target vehicle reaches the detection area.

The detection area is located between the Y key position points and a track starting point, and the track starting point refers to a position of the target vehicle when the target vehicle enters the reference track scene. Specifically, taking the example that the reference track scene is an underground garage, the track starting point refers to any point on a horizontal straight line where the entrance of the underground garage is located.

In one possible example, a straight line where the detection region is located is perpendicular to a straight line where the target wall body is located, and a distance between the detection region and a key position point, which is closest to the track starting point, of the Y key position points is a preset distance.

Referring to fig. 4, fig. 4 is a schematic diagram of an example of a reference track scene provided in an embodiment of the present application, and as shown in fig. 4, after a pre-processing, Y key location points in the reference track scene are obtained (only 11 key location points are labeled in the figure for an exemplary auxiliary description due to space limitation), where a key location point 401 is the closest to a starting point of the track among the Y key location points, and a distance from the key location point 401 to a detection area 402 is a preset distance d. When the target vehicle reaches the detection area 402, the detection position point 403 where the target vehicle is located and the first body posture at that time are acquired, specifically, the coordinates (x) of the detection position point 403 may be acquired ₁ ，y ₁ ) The specific position of the detection position point is determined, and in this example, the first vehicle body attitude at this time is 0 °. In particular, the preset distance d may be twice the length of the body of the target vehicle, which is an optimal distance for the user to adjust the driving route to safely steer the vehicle according to the historical empirical data analysis.

As can be seen, in this example, since the detection area for performing the safety detection has a certain distance to the nearest key position point where the target vehicle starts to perform the steering operation, the safety detection and the reminding of the target vehicle are advanced, the situation that the adjustable space of the vehicle is too small for the user due to too late reminding time is avoided, and the use experience of the user is optimized.

for example, when the target vehicle is in the first vehicle body posture at the detection position point 403 shown in fig. 4, it is determined from the historical driving image that the probability that the target vehicle reaches the key position point 401 and performs the steering operation is the maximum, and then the key position point 401 is marked as the target key position point.

specifically, the driving habits of the user may be analyzed according to the historical driving images, so that the second body posture of the target vehicle at the target key position point is estimated according to the detected position point, the first body posture and the target key position point, in this example, the driving habits of the user in the scene of this example are analyzed according to the historical driving images so as to keep going straight to the target key position point 401, and then the steering operation is performed, so that the second body posture of the target vehicle at the target key position point 401 may be estimated to be 0 °, that is, the body posture is kept unchanged. It is understood that in other examples, the first body posture and the second body posture are not always the same due to different user habits and need to be determined according to specific scenarios.

in one possible example, the obtaining of a plurality of standard body postures corresponding to the target key position points comprises: and inquiring a mapping relation table associated with the target key position points by taking the target key position points as inquiry identifications to obtain a plurality of standard vehicle body postures corresponding to the target key position points.

The mapping relation table associated with the target key position point is processed and generated data in a scene analysis stage, and comprises a plurality of standard body postures corresponding to the target key position point, namely the body posture of the target vehicle at the target key position point is one of the standard body postures, so that the steering operation can be safely executed, and scratch events are avoided. In this example, since the mapping relationship table is already generated at the scene analysis stage, the plurality of standard body poses can be obtained only by calling the mapping relationship table and looking up the table with the target key location point as the query identifier.

Therefore, in the example, the automatic driving domain controller can directly obtain a plurality of standard vehicle body postures by inquiring the mapping relation table of the associated target key position points generated in the scene analysis stage, so that the detection efficiency is improved, and the use experience of the user is optimized.

h. If the second vehicle posture is not included in the plurality of standard vehicle postures, outputting auxiliary voice, wherein the auxiliary voice is used for indicating a user to adjust the driving route of the target vehicle, so that the target vehicle cannot be scratched when the target vehicle performs continuous steering operation and enters the second lane.

Wherein outputting the auxiliary voice includes, but is not limited to, the following: prompting a user to adjust the driving direction, moving to the next key position point, and informing the user of what body posture the user should reach the next key position point, wherein the key position point can determine an optimal position point according to the current specific position and body posture of the target vehicle; or prompting a user to adjust the driving direction, and performing operations such as backing and steering, so that the vehicle body posture when the target key position point is reached is any one of the plurality of standard vehicle body postures.

Therefore, in the embodiment of the application, the automatic driving area controller firstly determines a reference track scene through which a target vehicle passes at a high frequency according to a historical driving image of the target vehicle, then determines X starting points, namely reference position points, of the target vehicle for executing steering operation in the scene, and then processes the X reference position points to obtain Y key position points with low difficulty in executing the steering operation and corresponding standard vehicle body postures of the Y key position points; when the target vehicle actually passes through the reference track scene, the automatic driving area controller executes a steering auxiliary detection function: firstly, acquiring a detection position point and a first vehicle body posture when a target vehicle reaches a detection area, and determining a key position point which is most likely to be reached by the target vehicle, namely a target key position point, and a second vehicle body posture when the target vehicle reaches the target key position point according to the position point and the first vehicle body posture at the moment; if the standard vehicle body posture corresponding to the target key position point does not include the second vehicle body posture, the difficulty of steering operation of the target vehicle at the target key position point is higher, and the auxiliary voice is output to assist a user in adjusting the driving route, so that the steering operation is safely performed, and the scratch event is avoided. Therefore, the scratch-proof reminding time can be advanced, the situation that the adjustable space of the vehicle is too small due to the fact that the reminding time is too late for a user is avoided, the auxiliary voice is output to assist the user in adjusting the vehicle, and the use experience of the user is optimized.

In accordance with the above-described embodiment, please refer to fig. 5a, fig. 5a is a block diagram of functional units of a vehicle turning scratch prevention device provided in an embodiment of the present application, where the device is applied to the automatic driving area controller 11 shown in fig. 1, and the vehicle turning scratch prevention device 50 includes: a first determining unit 501, configured to determine a reference track scene that the target vehicle passes through according to a historical driving image of the target vehicle, where the reference track scene is a track scene in which the number of times that the target vehicle passes through is greater than a preset number of times in the historical driving image, the reference track scene includes a first lane and a second lane, and the first lane and the second lane intersect each other; a second determining unit 502, configured to determine X reference position points in the reference trajectory scene, where the reference position points are starting position points of the target vehicle performing a continuous steering operation on the first lane toward the second lane, where X is a positive integer; a first executing unit 503, configured to execute the following operations a, b, and c for the X reference position points: a. determining N body postures of the target vehicle at a currently processed reference position point, wherein the body postures are used for indicating an included angle between a straight line where a body of the target vehicle is located and a straight line where a target wall body is located, and the target wall body is a wall body borne by the first lane in the direction where a head of the target vehicle points when continuous steering operation is performed; b. determining N steering tolerances of the target vehicle at the currently processed reference position point under the constraint of the N body postures, wherein the steering tolerances are used for indicating the difficulty degree of the target vehicle in performing steering operation on the currently processed reference position point, and N is a positive integer; c. judging whether the steering fault tolerance larger than a preset fault tolerance exists in the N steering fault tolerances; if so, marking the currently processed reference position point as a key position point; screening M steering fault tolerance degrees which are larger than preset fault tolerance degrees from the N steering fault tolerance degrees, and determining M standard vehicle body postures corresponding to the M steering fault tolerance degrees, wherein M is a positive integer and is smaller than or equal to N; if not, continuing to process the next reference position point until all the X reference position points are processed, and obtaining Y key position points, wherein Y is an integer and is less than or equal to X; a second executing unit 504, configured to, when it is detected that the target vehicle enters the reference trajectory scene, execute the following operations d, e, f, g, h: d. acquiring detection position points when the target vehicle reaches a detection area associated with the Y key position points and a first vehicle body posture when the target vehicle reaches the detection area, wherein the detection area is positioned between the Y key position points and a track starting point, and the track starting point is a position point when the target vehicle enters the reference track scene; e. determining Y probability values of the target vehicle reaching the Y key position points according to the detection position points and the first vehicle body posture, and marking the key position point with the maximum probability value as a target key position point; f. determining a second body posture of the target vehicle at the target key position point according to the detection position point, the first body posture and the target key position point; g. acquiring a plurality of standard vehicle body postures corresponding to the target key position points; h. if the second body posture is not included in the plurality of standard body postures, outputting auxiliary voice, wherein the auxiliary voice is used for indicating a user to adjust the running route of the target vehicle, so that the target vehicle cannot scratch when performing continuous steering operation and entering the second lane.

In one possible example, in terms of the determination of N steering tolerances of the target vehicle at the currently processed reference position point under the constraints of the N body poses, the first execution unit 503 is specifically configured to: performing the following operations for the N body postures: acquiring a minimum rotation angle of a steering wheel of the target vehicle at a currently processed reference position point under the constraint of a currently processed vehicle body posture, wherein the minimum rotation angle is used for indicating a minimum distance between a head of the target vehicle and a first wall when the target vehicle performs continuous steering operation, and the first wall is a wall borne by the second lane in the direction pointed by the head of the target vehicle when the target vehicle performs continuous steering operation; acquiring a maximum rotation angle of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the maximum rotation angle is used for indicating a minimum distance between the vehicle body of the target vehicle and a target corner region when the target vehicle performs continuous steering operation, the target corner region refers to an intersection region between a target wall body and a second wall body, and the second wall body is a wall body which is carried by the second lane and is opposite to the first wall body; determining a rotatable angular range of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the minimum rotation angle and the maximum rotation angle; determining steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the rotatable angle range; and continuously processing the next vehicle body posture until the N vehicle body postures are completely processed, and obtaining N steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the N vehicle body postures.

In one possible example, in terms of the determining the steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the rotatable angle range, the first executing unit 503 is specifically configured to: calculating a manipulability of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the rotatable angle range, the manipulability being used for representing a degree of difficulty of a user driving the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture; and determining the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the maneuverability.

In one possible example, in terms of the determining, according to the steerability, the steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture, the first execution unit 503 is specifically configured to: and inquiring a pre-established incidence relation table according to the maneuverability to obtain the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the pre-established incidence relation table comprises a plurality of maneuverability and a plurality of steering fault tolerances.

In one possible example, after said screening out M steering tolerances from said N steering tolerances that are greater than a preset tolerance and determining M standard body postures corresponding to said M steering tolerances, said vehicle steering anti-scratch device 50 is further configured to: creating a mapping relation table associated with the currently processed reference position point, wherein the mapping relation table associated with the currently processed reference position point comprises mapping relations between the currently processed reference position point and the M standard body postures.

In one possible example, in terms of obtaining a plurality of standard body postures corresponding to the target key position point, the second executing unit 504 is specifically configured to: and inquiring a mapping relation table associated with the target key position points by taking the target key position points as inquiry identifications to obtain a plurality of standard vehicle body postures corresponding to the target key position points.

It can be understood that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, and is not described herein again.

In the case of adopting an integrated unit, as shown in fig. 5b, fig. 5b is a block diagram of a functional unit composition of another vehicle steering anti-scratch device provided in the embodiment of the present application. In fig. 5b, the vehicle steering snag prevention device 51 includes: a processing module 512 and a communication module 511. The processing module 512 is used for controlling and managing actions of the vehicle steering anti-scratch device, for example, executing steps of the first determining unit 501, the second determining unit 502, the first executing unit 503 and the second executing unit 504, and/or other processes for executing the technology described herein. The communication module 511 is used to support interaction between the vehicle steering anti-scratch device and other equipment. As shown in fig. 5b, the vehicle steering anti-scratch device may further include a storage module 513, and the storage module 513 is configured to store program codes and data of the vehicle steering anti-scratch device.

The Processing module 512 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the disclosure herein. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 511 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 513 may be a memory.

All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. The above-mentioned vehicle turning anti-rubbing device 51 can perform the above-mentioned vehicle turning anti-rubbing method shown in fig. 2.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.

Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, electronic device 600 may include one or more of the following components: a processor 601, a memory 602 coupled to the processor 601, wherein the memory 602 may store one or more computer programs that may be configured to implement the methods described in the embodiments above when executed by the one or more processors 601. The electronic device 600 may be the automatic driving range controller 11 in the above-described embodiment.

Processor 601 may include one or more processing cores. The processor 601, using various interfaces and lines to connect various parts throughout the electronic device 600, performs various functions of the electronic device 600 and processes data by executing or performing instructions, programs, code sets, or instruction sets stored in the memory 602 and invoking data stored in the memory 602. Alternatively, the processor 601 may be implemented in at least one hardware form of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 601 may integrate one or a combination of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 601, but may be implemented by a communication chip.

The Memory 602 may include a Random Access Memory (RAM) or a Read-Only Memory (ROM). The memory 602 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The stored data area may also store data created during use by the electronic device 600, and the like.

It is understood that the electronic device 600 may include more or less structural elements than those shown in the above structural block diagrams, and is not limited thereto.

Embodiments of the present application further provide a computer storage medium, in which a computer program/instruction is stored, and the computer program/instruction, when executed by a processor, implements part or all of the steps of any one of the methods as described in the above method embodiments.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute some steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard drive, diskette, optical disk, volatile memory or non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example and not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous SDRAM (SLDRAM), and direct bus RAM (DR RAM) among various media that can store program code.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications can be easily made by those skilled in the art without departing from the spirit and scope of the present invention, and it is within the scope of the present invention to include different functions, combination of implementation steps, software and hardware implementations.

Claims

1. The utility model provides a vehicle turns to and prevents rubbing method, its characterized in that, be applied to the autopilot territory controller of the autopilot system of target vehicle, autopilot system include autopilot territory controller with set up in the sensor module of target vehicle automobile body, autopilot territory controller with sensor module communication connection, the method includes:

determining a reference track scene that the target vehicle passes according to the historical driving image of the target vehicle, wherein the reference track scene is a track scene that the number of times that the target vehicle passes in the historical driving image is greater than a preset number of times, the reference track scene comprises a first lane and a second lane, and the first lane is intersected with the second lane;

a. determining N body postures of the target vehicle at a currently processed reference position point, wherein the body postures are used for indicating an included angle between a straight line where a body of the target vehicle is located and a straight line where a target wall body is located, and the target wall body refers to a wall body borne by the first lane in the direction where a head of the target vehicle points when the target vehicle executes continuous steering operation;

if so, marking the reference position point currently processed as a key position point; screening M steering fault tolerance degrees which are larger than preset fault tolerance degrees from the N steering fault tolerance degrees, and determining M standard vehicle body postures corresponding to the M steering fault tolerance degrees, wherein M is a positive integer and is less than or equal to N;

2. The method of claim 1, wherein said determining N steering tolerances of said target vehicle at said currently processed reference location points under constraints of said N body poses comprises:

performing the following operations for the N body postures:

acquiring a minimum rotation angle of a steering wheel of the target vehicle at a currently processed reference position point under the constraint of a currently processed vehicle body posture, wherein the minimum rotation angle is used for indicating a minimum distance between a head of the target vehicle and a first wall body when the target vehicle performs continuous steering operation, and the first wall body is a wall body borne by the second lane in the direction pointed by the head of the target vehicle when the target vehicle performs continuous steering operation;

acquiring a maximum rotation angle of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the maximum rotation angle is used for indicating a minimum distance between the vehicle body of the target vehicle and a target corner region when the target vehicle performs continuous steering operation, the target corner region refers to an intersection region between a target wall body and a second wall body, and the second wall body is a wall body which is carried by the second lane and is opposite to the first wall body;

determining a rotatable angular range of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the minimum rotation angle and the maximum rotation angle;

determining steering tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body attitude according to the rotatable angle range;

and continuously processing the next vehicle body posture until the N vehicle body postures are completely processed, and obtaining N steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the N vehicle body postures.

3. The method of claim 2, wherein said determining a steering tolerance of said target vehicle at said current processed reference location point under constraints of said current processed body attitude from said rotatable angular range comprises:

calculating a manipulability of a steering wheel of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the rotatable angle range, the manipulability being used for representing a degree of difficulty of a user driving the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture;

and determining the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed body posture according to the maneuverability.

4. The method of claim 3, wherein said determining a steering tolerance of said target vehicle at said current processed reference location point under constraints of said current processed body attitude based on said maneuverability comprises:

and inquiring a pre-established incidence relation table according to the maneuverability to obtain the steering fault tolerance of the target vehicle at the currently processed reference position point under the constraint of the currently processed vehicle body posture, wherein the pre-established incidence relation table comprises a plurality of maneuverability and a plurality of steering fault tolerances.

5. The method of claim 1, wherein after said screening M steering tolerances from said N steering tolerances that are greater than a preset tolerance and determining M standard body poses corresponding to said M steering tolerances, said method further comprises:

and creating a mapping relation table associated with the currently processed reference position point, wherein the mapping relation table associated with the currently processed reference position point comprises mapping relations between the currently processed reference position point and the M standard body postures.

6. The method of claim 5, wherein the obtaining a plurality of standard body poses corresponding to the target key position points comprises:

and inquiring a mapping relation table associated with the target key position points by taking the target key position points as inquiry identifications to obtain a plurality of standard vehicle body postures corresponding to the target key position points.

7. The method according to claim 1, wherein a straight line of the detection area is perpendicular to a straight line of the target wall, and a distance between the detection area and a key position point closest to the track starting point among the Y key position points is a preset distance.

8. The utility model provides a vehicle turns to and prevents cutting to pieces device that scratches, its characterized in that is applied to the autopilot domain controller of the autopilot system of target vehicle, autopilot system includes autopilot domain controller with set up in the sensor module of target vehicle automobile body, autopilot domain controller with sensor module communication connection, the device includes:

a second determining unit, configured to determine X reference position points in the reference trajectory scene, where the reference position points are starting position points of the target vehicle heading to the second lane when the target vehicle performs a continuous steering operation on the first lane, where X is a positive integer;

d. acquiring a detection position point when the target vehicle reaches a detection area associated with the Y key position points and a first vehicle body posture when the target vehicle reaches the detection area, wherein the detection area is positioned between the Y key position points and a track starting point, and the track starting point is a position point when the target vehicle enters the reference track scene;

9. An electronic device comprising a processor, memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of the method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program/instructions is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.