WO2024139319A1 - Narrow-road passing method and apparatus, vehicle and storage medium - Google Patents

Abstract

A narrow-road passing method, comprising: acquiring current obstacle information and a travelable area of a vehicle; and when it is determined that a road ahead of the vehicle is a narrow road according to the obstacle information and the travelable area, performing trajectory planning according to the obstacle information and the travelable area to form a traveling trajectory, and controlling the vehicle to pass through the narrow road according to the traveling trajectory; and when it is impossible to determine whether a road ahead of the vehicle is a narrow road according to the obstacle information and the travelable area, in response to an activation operation for a narrow-road auxiliary function, obtaining specified information input by a user, and controlling the vehicle to pass through the narrow road according to the specified information input by the user. The narrow-road passing method allows vehicles to automatically identify narrow roads and automatically pass through the narrow roads, thus alleviating the driving pressure of drivers driving the vehicles through the narrow roads, further improving the usability of a narrow-road auxiliary system and enriching the usage scenarios of the narrow-road auxiliary system. Also provided are an apparatus for implementing the narrow-road passing method, a vehicle, and a storage medium.

Description

窄路通行方法、装置、车辆及存储介质Narrow road passage method, device, vehicle and storage medium

本申请要求于2022年12月30日提交中国专利局，申请号为202211729114.0，发明名称为“窄路通行方法、装置、车辆及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to a Chinese patent application filed with the China Patent Office on December 30, 2022, with application number 202211729114.0, and invention name “Narrow Road Passage Method, Device, Vehicle and Storage Medium”, all contents of which are incorporated by reference into this application.

技术领域Technical Field

本申请实施例涉及智能驾驶技术领域，特别地，涉及一种窄路通行方法、装置、车辆及存储介质。Embodiments of the present application relate to the field of intelligent driving technology, and in particular, to a narrow road passage method, device, vehicle and storage medium.

背景技术Background technique

窄路辅助***是车辆智能驾驶***中能帮助驾驶员控制车辆通过窄路口的驾驶辅助***。当驾驶员驾驶车辆行驶时，如果检测到车辆前方存在窄路，窄路辅助***会主动提示驾驶员是否激活窄路辅助功能，在驾驶员选择激活窄路辅助功能时，车辆上安装的传感器(例如，摄像头传感器、激光雷达传感器、毫米波雷达传感器)形成的感知***可以检测车辆前方的窄路信息，并将窄路信息发送给路径规划模块，路径规划模块窄路信息，可以规划针对当前窄路可通行的行驶轨迹，然后将行驶轨迹传输至跟车控制模块，跟车控制模块可以控制车辆按照行驶轨迹行驶以通过窄路。然而，实际应用中窄路场景丰富，窄路类型复杂，车辆存在无法识别窄路导致无法激活窄路辅助功能的情况，造成目前的窄路辅助***的使用具有局限性。The narrow road assistance system is a driving assistance system in the vehicle's intelligent driving system that can help the driver control the vehicle through narrow intersections. When the driver is driving the vehicle, if a narrow road is detected in front of the vehicle, the narrow road assistance system will actively prompt the driver whether to activate the narrow road assistance function. When the driver chooses to activate the narrow road assistance function, the perception system formed by the sensors installed on the vehicle (for example, camera sensors, lidar sensors, millimeter-wave radar sensors) can detect the narrow road information in front of the vehicle and send the narrow road information to the path planning module. The path planning module can plan a driving trajectory that is passable for the current narrow road, and then transmit the driving trajectory to the following control module. The following control module can control the vehicle to drive according to the driving trajectory to pass through the narrow road. However, in actual applications, there are abundant narrow road scenes and complex narrow road types. There are situations where the vehicle cannot recognize the narrow road and cannot activate the narrow road assistance function, resulting in limitations in the use of the current narrow road assistance system.

发明内容Summary of the invention

本申请实施例提供一种窄路通行方法、装置、车辆及存储介质，可以改善目前的窄路辅助***的使用具有局限性的技术问题。The embodiments of the present application provide a narrow road passage method, device, vehicle and storage medium, which can improve the technical problem that the current narrow road assistance system has limitations in use.

第一方面，本申请实施例提供一种窄路通行方法。该方法包括：获取车辆当前的障碍物信息和可行驶区域；在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路，所述窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路；在根据所述障碍物信息和所述可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路。 In the first aspect, an embodiment of the present application provides a method for passing through a narrow road. The method includes: obtaining the current obstacle information and drivable area of the vehicle; when it is determined that there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory, wherein the narrow road is a road whose drivable area of the vehicle is smaller than the drivable area of the road where the vehicle is currently located; when it is impossible to determine whether there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, in response to the activation operation of the narrow road auxiliary function, obtaining the specified information input by the user, and controlling the vehicle to pass through the narrow road according to the specified information input by the user.

第二方面，本申请实施例提供一种窄路通行装置。该装置包括：信息获取模块，用于获取车辆当前的障碍物信息和可行驶区域；窄路辅助模块，用于在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路，所述窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路；人机交互模块，用于在根据所述障碍物信息和所述可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息。窄路辅助模块，还用于根据用户输入的指定信息控制车辆通过窄路。In the second aspect, an embodiment of the present application provides a narrow road passing device. The device includes: an information acquisition module, which is used to obtain the current obstacle information and drivable area of the vehicle; a narrow road auxiliary module, which is used to plan a trajectory according to the obstacle information and the drivable area to form a driving trajectory when it is determined that there is a narrow road in front of the vehicle based on the obstacle information and the drivable area, and control the vehicle to pass through the narrow road according to the driving trajectory, wherein the narrow road is a road where the vehicle's drivable area is smaller than the drivable area of the road where the vehicle is currently located; a human-computer interaction module, which is used to obtain the specified information input by the user in response to the activation operation of the narrow road auxiliary function when it is impossible to determine whether there is a narrow road in front of the vehicle based on the obstacle information and the drivable area. The narrow road auxiliary module is also used to control the vehicle to pass through the narrow road according to the specified information input by the user.

第三方面，本申请实施例提供一种车辆。该车辆包括存储器、一个或多个处理器以及一个或多个应用程序。其中，一个或多个应用程序被存储在存储器中，并被配置为当被一个或多个处理器调用时执行本申请实施例提供的方法。In a third aspect, an embodiment of the present application provides a vehicle. The vehicle includes a memory, one or more processors, and one or more applications. The one or more applications are stored in the memory and are configured to execute the method provided by the embodiment of the present application when called by the one or more processors.

第四方面，本申请实施例提供一种计算机可读取存储介质。该计算机可读取存储介质中存储有程序代码，该程序代码被配置为当被处理器调用时执行本申请实施例提供的方法。In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program code stored therein, wherein the program code is configured to execute the method provided by the embodiment of the present application when called by a processor.

本申请实施例提供一种窄路通信方法、装置、车辆及存储介质，该方法可以在根据车辆当前的障碍物信息和可行驶区域判定车辆前方道路存在窄路时，可以根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路，从而可以实现车辆自动识别窄路并自动通过窄路，减轻驾驶员驾驶车辆通过窄路的驾驶压力。此外，在根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，可以根据用户(例如驾驶员)输入的指定信息控制车辆通过窄路，从而可以在窄路辅助***面临复杂窄路无法自动激活的场景下，通过用户激活窄路辅助***，并使得窄路辅助***可以根据用户输入的指定信息控制车辆通过窄路，从而可以提升窄路辅助***的可用性和丰富窄路辅助***的使用场景。The embodiment of the present application provides a narrow road communication method, device, vehicle and storage medium. When it is determined that there is a narrow road in front of the vehicle according to the current obstacle information and drivable area of the vehicle, the method can perform trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and control the vehicle to pass through the narrow road according to the driving trajectory, so that the vehicle can automatically identify the narrow road and automatically pass through the narrow road, reducing the driving pressure of the driver to drive the vehicle through the narrow road. In addition, when it is impossible to determine whether there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, in response to the activation operation of the narrow road assistance function, the vehicle can be controlled to pass through the narrow road according to the specified information input by the user (such as the driver), so that in the scenario where the narrow road assistance system cannot be automatically activated due to complex narrow roads, the narrow road assistance system can be activated by the user, and the narrow road assistance system can control the vehicle to pass through the narrow road according to the specified information input by the user, so that the availability of the narrow road assistance system can be improved and the use scenarios of the narrow road assistance system can be enriched.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

图1是本申请一示例性实施例提供的窄路场景的示意图。FIG. 1 is a schematic diagram of a narrow road scenario provided by an exemplary embodiment of the present application.

图2是本申请一示例性实施例提供的窄路场景的示意图。FIG. 2 is a schematic diagram of a narrow road scenario provided by an exemplary embodiment of the present application.

图3是本申请一示例性实施例提供的窄路场景的示意图。FIG. 3 is a schematic diagram of a narrow road scenario provided by an exemplary embodiment of the present application.

图4是本申请一示例性实施例提供的窄路场景的示意图。FIG. 4 is a schematic diagram of a narrow road scenario provided by an exemplary embodiment of the present application.

图5是本申请一示例性实施例提供的窄路场景的示意图。 FIG5 is a schematic diagram of a narrow road scenario provided by an exemplary embodiment of the present application.

图6是本申请一实施例提供的窄路通行***的结构示意图。FIG. 6 is a schematic diagram of the structure of a narrow road passage system provided in an embodiment of the present application.

图7是本申请一实施例提供的窄路通行方法的流程示意图。FIG. 7 is a schematic flow chart of a narrow road passage method provided in an embodiment of the present application.

图8是本申请一示例性实施例提供的环境点云信息的示意图。FIG. 8 is a schematic diagram of environmental point cloud information provided by an exemplary embodiment of the present application.

图9是本申请一示例性实施例提供的可视化交互界面的示意图。FIG. 9 is a schematic diagram of a visual interactive interface provided by an exemplary embodiment of the present application.

图10是本申请一实施例提供的窄路通行方法的流程示意图。FIG. 10 is a schematic flow chart of a narrow road passage method provided in an embodiment of the present application.

图11是本申请一实施例提供的窄路通行装置的结构示意图。FIG. 11 is a schematic diagram of the structure of a narrow road passage device provided in one embodiment of the present application.

图12是本申请一实施例提供的车辆的结构示意图。FIG. 12 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

图13是本申请一实施例提供的计算机可读取存储介质的结构示意图。FIG. 13 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

目前，车辆仅能在感知***识别出窄路具有通行空间后进行轨迹规划。目前的感知***识别障碍物主要是通过提前采集训练样本进行模型训练。然而，形成窄路的障碍物类型丰富，如图1至图5所示，图1的窄路由石柱和石墩形成，图2的窄路由石墩形成，图3的窄路由石墩形成，图4的窄路由在道路上行驶的车辆形成，图5的窄路由在道路旁边停靠的车辆和在道路上行驶的车辆形成。如果车辆碰到未训练过的障碍物类型，感知***可能无法进行识别，此时窄路辅助***无法被激活，不能辅助驾驶员驶过窄路，导致目前的窄路辅助***的使用具有局限性。At present, vehicles can only plan trajectories after the perception system recognizes that the narrow road has space for passage. The current perception system recognizes obstacles mainly by collecting training samples in advance for model training. However, there are many types of obstacles that form narrow roads, as shown in Figures 1 to 5. The narrow road in Figure 1 is formed by stone pillars and stone piers, the narrow road in Figure 2 is formed by stone piers, the narrow road in Figure 3 is formed by stone piers, the narrow road in Figure 4 is formed by vehicles traveling on the road, and the narrow road in Figure 5 is formed by vehicles parked beside the road and vehicles traveling on the road. If the vehicle encounters an obstacle type that has not been trained, the perception system may not be able to identify it. At this time, the narrow road assistance system cannot be activated and cannot assist the driver in driving through the narrow road, resulting in limitations in the use of the current narrow road assistance system.

此外，车辆在面临窄路时并不一定是刚好沿着窄路的中间行驶，如果车辆与窄路通行区域存在一定的横向偏差或者夹角时，此时很可能车辆无法识别到足够的通行区域，导致难以对行驶轨迹进行规划，这种情况下窄路辅助***无法被激活，不能辅助驾驶员驶过窄路，导致目前的窄路辅助***的使用具有局限性。In addition, when a vehicle faces a narrow road, it does not necessarily drive exactly along the middle of the narrow road. If there is a certain lateral deviation or angle between the vehicle and the narrow road passage area, the vehicle may not be able to identify sufficient passage area, making it difficult to plan the driving trajectory. In this case, the narrow road assistance system cannot be activated and cannot assist the driver in passing the narrow road, resulting in limitations in the use of the current narrow road assistance system.

综上，针对实际应用中的丰富窄路场景，目前的窄路辅助***可能存在无法被激活的情况，导致窄路辅助***不能辅助驾驶员驶过窄路，导致目前的窄路辅助***的使用具有局限性。基于此，本申请实施例提供一种窄路通信方法、装置、车辆及存储介质，以改善目前的窄路辅助***的使用具有局限性的技术问题。In summary, for the various narrow road scenarios in actual applications, the current narrow road assistance system may not be activated, resulting in the narrow road assistance system being unable to assist the driver in driving through the narrow road, which results in the current narrow road assistance system having limitations in use. Based on this, the embodiments of the present application provide a narrow road communication method, device, vehicle, and storage medium to improve the technical problem that the current narrow road assistance system has limitations in use.

图6是本申请一实施例提供的窄路通行***的结构示意图。窄路通行***100可以应用于车辆，车辆可以是汽油车或电动车等，其中，电动汽车可以是纯电动汽车、混合动力汽车、或燃料电池汽车等，在此不做具体限制。窄路通行***100可以包括相互可以进行通信的感知模块110、窄路判断模块120、交互模块130、轨迹规划模块140以及跟车控制模块150。 FIG6 is a schematic diagram of the structure of a narrow road traffic system provided by an embodiment of the present application. The narrow road traffic system 100 can be applied to a vehicle, and the vehicle can be a gasoline vehicle or an electric vehicle, etc., wherein the electric vehicle can be a pure electric vehicle, a hybrid vehicle, or a fuel cell vehicle, etc., without specific limitation herein. The narrow road traffic system 100 can include a perception module 110, a narrow road judgment module 120, an interaction module 130, a trajectory planning module 140, and a following vehicle control module 150 that can communicate with each other.

感知模块110用于感知车辆所处环境中的各种信息，例如，道路信息、障碍物信息、天气信息等。感知模块110可以包括各种用于感知车辆所处环境的传感器，传感器可以包括但不限于摄像头传感器、激光雷达、毫米波雷达、超声波雷达等。The perception module 110 is used to perceive various information in the environment where the vehicle is located, such as road information, obstacle information, weather information, etc. The perception module 110 may include various sensors for perceiving the environment where the vehicle is located, and the sensors may include but are not limited to camera sensors, laser radars, millimeter wave radars, ultrasonic radars, etc.

窄路判断模块120用于根据预设信息进行窄路识别。预设信息可以根据实际判断窄路所需满足的条件进行确定，在一些实施方式中，预设信息可以包括车辆当前的障碍物信息和可行驶区域。The narrow road determination module 120 is used to identify a narrow road according to preset information. The preset information can be determined according to the conditions that need to be met for actually determining a narrow road. In some embodiments, the preset information can include the current obstacle information and drivable area of the vehicle.

交互模块130可以提供可视化交互界面，交互模块130可以是车辆的中控显示屏。用户(例如驾驶员)和窄路通行***可以通过可视化交互界面进行人机交互。The interaction module 130 may provide a visual interaction interface, and the interaction module 130 may be a central control display screen of the vehicle. A user (eg, a driver) and the narrow road traffic system may perform human-computer interaction through the visual interaction interface.

轨迹规划模块140用于根据上述预设信息进行车辆的轨迹规划。车辆按照轨迹规划模块140规划的行驶轨迹行驶可以通过窄路。The trajectory planning module 140 is used to plan the trajectory of the vehicle according to the above preset information. The vehicle can pass through the narrow road by driving along the driving trajectory planned by the trajectory planning module 140.

跟车控制模块150用于控制车辆按照上述行驶轨迹通过窄路。The vehicle following control module 150 is used to control the vehicle to pass through the narrow road according to the above driving trajectory.

图7是本申请一实施例提供的窄路通行方法的流程示意图。该窄路通行方法可以应用于窄路通行***100或窄路通行装置200或车辆300。该窄路通行方法可以包括以下步骤S110至步骤S130。Fig. 7 is a flow chart of a narrow road passage method provided in an embodiment of the present application. The narrow road passage method can be applied to a narrow road passage system 100 or a narrow road passage device 200 or a vehicle 300. The narrow road passage method can include the following steps S110 to S130.

步骤S110，获取车辆当前的障碍物信息和可行驶区域。Step S110, obtaining the current obstacle information and drivable area of the vehicle.

本申请实施例中的障碍物信息可以包括车辆当前周围的障碍物及其障碍物的类型、位置、尺寸。优选地，车辆当前的障碍物信息也可以包括车辆当前前方的障碍物及其障碍物类型、位置、尺寸，或者车辆当前前方的形成窄路的障碍物及其障碍物类型、位置、尺寸，以便减少计算数据，降低***计算压力。The obstacle information in the embodiment of the present application may include obstacles currently around the vehicle and their types, positions, and sizes. Preferably, the current obstacle information of the vehicle may also include obstacles currently in front of the vehicle and their types, positions, and sizes, or obstacles forming a narrow road in front of the vehicle and their types, positions, and sizes, so as to reduce calculation data and reduce system calculation pressure.

本申请实施例中的障碍物可以包括但不限于道路上行驶的车辆、道路上的行人、停靠在道路两旁的车辆以及道路上的石墩和石柱等。The obstacles in the embodiments of the present application may include, but are not limited to, vehicles traveling on the road, pedestrians on the road, vehicles parked on both sides of the road, and stone piers and stone pillars on the road.

本申请实施例中的障碍物的类型可以由开发人员根据实际应用场景中存在的障碍物类型进行设置或修改，障碍物类型可以包括但不限于车辆、石墩以及石柱等。The types of obstacles in the embodiments of the present application can be set or modified by the developer according to the types of obstacles existing in the actual application scenarios. The types of obstacles may include but are not limited to vehicles, stone piers, stone pillars, etc.

本申请实施例中的障碍物的位置指的是障碍物当前相对车辆而言的相对位置。障碍物相对车辆的相对位置会随着车辆的移动而实时变更。The position of the obstacle in the embodiment of the present application refers to the relative position of the obstacle relative to the vehicle. The relative position of the obstacle relative to the vehicle will change in real time as the vehicle moves.

本申请实施例中的障碍物的尺寸可以包括障碍物的长、宽、高。由于在实际应用场景中测距可能存在一定误差，本申请实施例中的障碍物的尺寸允许存在一定范围内的误差，而非完全准确的尺寸。The size of the obstacle in the embodiment of the present application may include the length, width and height of the obstacle. Since there may be a certain error in the distance measurement in the actual application scenario, the size of the obstacle in the embodiment of the present application is allowed to have an error within a certain range, rather than a completely accurate size.

在一些实施方式中，车辆上的感知模块中的各传感器可以感知车辆当前的障碍物信息。例如，车辆上的摄像头可以获取车辆前方的图像信息，根据图像信息进行机器学习识别，可以识别障碍物的类型。车辆上的激光雷达或毫米波雷达或超声波雷达等测距传感器可以测量障碍物 与车辆的距离来获取障碍物的位置和尺寸。其中，激光雷达测距方法可以包括但不限于三角测距法、脉冲飞行时间(Pulse Time of Light，简称PTOF)测距法以及调幅连续波(Amplitude Continuous Wave，简称AMCW)测距法等。毫米波雷达测距方法可以包括但不限于连续波相位法、脉冲法、连续波调频法、连续波调相法以及脉冲压缩法等。超声波雷达测距方法可以包括但不限于往返时间检测法、相位检测法以及声波幅值检测法等。In some embodiments, each sensor in the perception module on the vehicle can sense the current obstacle information of the vehicle. For example, the camera on the vehicle can obtain image information in front of the vehicle, and perform machine learning recognition based on the image information to identify the type of obstacle. The ranging sensors such as laser radar, millimeter wave radar, or ultrasonic radar on the vehicle can measure the obstacle. The distance from the vehicle is used to obtain the position and size of the obstacle. Among them, the laser radar ranging method may include but is not limited to the triangulation ranging method, the pulse time of light (PTOF) ranging method and the amplitude modulated continuous wave (AMCW) ranging method. The millimeter wave radar ranging method may include but is not limited to the continuous wave phase method, the pulse method, the continuous wave frequency modulation method, the continuous wave phase modulation method and the pulse compression method. The ultrasonic radar ranging method may include but is not limited to the round-trip time detection method, the phase detection method and the sound wave amplitude detection method.

本申请实施例中的可行驶区域指的是窄路中间的可供车辆通行的区域，也即可行驶区域指的是形成窄路的障碍物之间的区域且该区域的宽度大于车辆宽度。示例的，如图1所示，窄路由石柱和石墩形成，石柱之间或石墩之间的区域大于车辆宽度，为可行驶区域。如图2所示，窄路由石墩形成，石墩之间的区域大于车辆宽度，为可行驶区域。如图3所示，窄路由石墩形成，石墩之间的区域大于车辆宽度，为可行驶区域。如图4所示，窄路由在道路上行驶的车辆形成，行驶的车辆之间的区域大于车辆宽度，为可行驶区域。如图5所示，窄路由在道路上行驶的车辆和停靠在道路旁边的车辆形成，由于在道路上行驶的车辆和停靠在道路旁边的车辆之间的区域太过狭窄，小于车辆宽度，因此通常认为这种情况下，在道路上行驶的车辆和停靠在道路旁边的车辆之间的区域不属于可行驶区域，因为不存在供车辆通行的区域。The drivable area in the embodiment of the present application refers to the area in the middle of the narrow road where vehicles can pass, that is, the drivable area refers to the area between the obstacles that form the narrow road and the width of the area is greater than the width of the vehicle. For example, as shown in Figure 1, the narrow road is formed by stone pillars and stone piers, and the area between the stone pillars or between the stone piers is greater than the width of the vehicle, which is the drivable area. As shown in Figure 2, the narrow road is formed by stone piers, and the area between the stone piers is greater than the width of the vehicle, which is the drivable area. As shown in Figure 3, the narrow road is formed by stone piers, and the area between the stone piers is greater than the width of the vehicle, which is the drivable area. As shown in Figure 4, the narrow road is formed by vehicles traveling on the road, and the area between the traveling vehicles is greater than the width of the vehicle, which is the drivable area. As shown in Figure 5, the narrow road is formed by vehicles traveling on the road and vehicles parked beside the road. Since the area between the vehicles traveling on the road and the vehicles parked beside the road is too narrow and less than the width of the vehicle, it is generally believed that in this case, the area between the vehicles traveling on the road and the vehicles parked beside the road does not belong to the drivable area because there is no area for vehicles to pass.

在一些实施方式中，车辆上感知模块中的各传感器可以感知车辆当前的可行驶区域。例如，车辆上的摄像头可以获取车辆前方的图像信息，根据图像信息进行机器学习识别，可以识别窄路形状和窄路中间的可行驶区域。车辆上的激光雷达或毫米波雷达或超声波雷达等测距传感器可以测量障碍物与车辆的距离来获取障碍物之间的距离，根据该距离确定窄路中间的区域的宽度和长度，若宽度大于车辆宽度则确定存在可行驶区域，将该宽度和长度作为可行驶区域的宽度和长度。In some embodiments, each sensor in the perception module on the vehicle can sense the current drivable area of the vehicle. For example, the camera on the vehicle can obtain image information in front of the vehicle, and perform machine learning recognition based on the image information to identify the shape of the narrow road and the drivable area in the middle of the narrow road. The ranging sensors such as laser radar, millimeter wave radar, or ultrasonic radar on the vehicle can measure the distance between the obstacle and the vehicle to obtain the distance between the obstacles, and determine the width and length of the area in the middle of the narrow road based on the distance. If the width is greater than the width of the vehicle, it is determined that there is a drivable area, and the width and length are used as the width and length of the drivable area.

在车辆的感知模块按照上述方法得到障碍物信息和可行驶区域后，可以将障碍物信息和可行驶区域发送至窄路判断模块，窄路判断模块即可获取到车辆当前的障碍物信息和可行驶区域。After the vehicle's perception module obtains the obstacle information and the drivable area according to the above method, the obstacle information and the drivable area can be sent to the narrow road judgment module, and the narrow road judgment module can obtain the vehicle's current obstacle information and drivable area.

步骤S120，在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路，窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路。Step S120, when it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, trajectory planning is performed based on the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory. The narrow road is a road where the vehicle's drivable area is smaller than the drivable area of the road the vehicle is currently on.

在一些实施方式中，在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，车辆的窄路判断模块可以主动激活窄路辅助功能，通知感知模块可以将障碍物信息和可行驶区域传输至轨迹规划模块。轨迹规划模块可以根据障碍物信息和可行驶区域进行轨迹规划，得到行驶轨迹，并将行驶轨迹传输至跟车控制模块。跟车控制模块可以控制车辆按照行驶轨迹通过窄路。In some embodiments, when it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, the narrow road judgment module of the vehicle can actively activate the narrow road auxiliary function, and notify the perception module to transmit the obstacle information and the drivable area to the trajectory planning module. The trajectory planning module can perform trajectory planning based on the obstacle information and the drivable area, obtain the driving trajectory, and transmit the driving trajectory to the following vehicle control module. The following vehicle control module can control the vehicle to pass through the narrow road according to the driving trajectory.

在一些实施方式中，轨迹规划模块可以采用矩形框分别表征障碍物和车辆，表征障碍物的矩形框的长度和宽度可以大于或等于障碍物的长度和宽度，表征车辆的矩形框的长度和宽度可 以大于或等于车辆的长度和宽度，以可行驶区域作为道路，以可行驶区域的边界作为道路边界，采用相关的局部路径规划方法进行轨迹规划。其中，局部路径规划方法可以包括但不限于基于图搜索的局部路径规划方法、基于随机搜索算法的局部路径规划方法、基于曲线插值的局部路径规划方法以及基于数值优化方法的局部路径规划方法等。基于图搜索的局部路径规划方法可以包括但不限于A*算法、混合A*算法以及D*算法等。基于随机搜索算法的局部路径规划方法可以包括快速随机搜索树(rapidly-exploring random tree，简称RRT)方法。基于曲线插值的局部路径规划方法中的插值曲线可以包括但不限于直线、圆弧、多项式曲线、贝塞尔(Bezier)曲线、B样条曲线等。基于数值优化方法的局部路径规划方法可以包括但不限于人工势场法、最优控制等方法。In some embodiments, the trajectory planning module may use rectangular frames to represent obstacles and vehicles respectively. The length and width of the rectangular frame representing the obstacle may be greater than or equal to the length and width of the obstacle, and the length and width of the rectangular frame representing the vehicle may be greater than or equal to the length and width of the obstacle. With a length and width greater than or equal to the vehicle, the drivable area as the road, and the boundary of the drivable area as the road boundary, the trajectory planning is performed using relevant local path planning methods. Among them, the local path planning method may include but is not limited to a local path planning method based on graph search, a local path planning method based on a random search algorithm, a local path planning method based on curve interpolation, and a local path planning method based on a numerical optimization method. The local path planning method based on graph search may include but is not limited to an A* algorithm, a hybrid A* algorithm, and a D* algorithm. The local path planning method based on a random search algorithm may include a rapid random search tree (RRT) method. The interpolation curve in the local path planning method based on curve interpolation may include but is not limited to a straight line, an arc, a polynomial curve, a Bezier curve, a B-spline curve, etc. The local path planning method based on a numerical optimization method may include but is not limited to an artificial potential field method, optimal control, and other methods.

在一些实施方式中，跟车控制模块在接收到轨迹规划模块发送的行驶轨迹时，可以控制车辆沿着行驶轨迹行驶以通过窄路。示例的，跟车控制模块可以通过控制车辆的方向盘、制动***以及转向***等，控制车辆沿着行驶轨迹行驶以通过窄路。In some embodiments, when the vehicle following control module receives the driving trajectory sent by the trajectory planning module, it can control the vehicle to drive along the driving trajectory to pass through the narrow road. For example, the vehicle following control module can control the vehicle to drive along the driving trajectory to pass through the narrow road by controlling the steering wheel, braking system, and steering system of the vehicle.

在一些实施方式中，在根据障碍物信息和可行驶区域判定车辆前方道路不存在窄路时，此时车辆的窄路判断模块可以不激活窄路辅助功能。In some embodiments, when it is determined that there is no narrow road ahead of the vehicle based on the obstacle information and the drivable area, the narrow road determination module of the vehicle may not activate the narrow road assistance function.

步骤S130，在根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路。Step S130, when it is impossible to determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, in response to the activation operation of the narrow road assistance function, obtain the specified information input by the user, and control the vehicle to pass through the narrow road based on the specified information input by the user.

如前所述，实际应用场景中的窄路场景丰富，通常车辆只能识别已预先训练的窄路场景，因此存在根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路时，车辆不会主动激活窄路辅助功能，此时可以通过交互模块输出用于提示是否激活窄路辅助功能的提示信息。交互模块可以提供可视化交互界面，将该提示信息显示在可视化交互界面上，用于提示用户(例如驾驶员)选择手动激活窄路辅助功能。As mentioned above, there are many narrow road scenes in actual application scenarios. Usually, vehicles can only recognize pre-trained narrow road scenes. Therefore, when it is impossible to determine whether there is a narrow road in front of the vehicle based on obstacle information and drivable area, the vehicle will not actively activate the narrow road assistance function. At this time, the interactive module can output prompt information for prompting whether to activate the narrow road assistance function. The interactive module can provide a visual interactive interface, and display the prompt information on the visual interactive interface to prompt the user (such as the driver) to choose to manually activate the narrow road assistance function.

在一些实施方式中，在输出提示信息时，窄路判断模块可以采用计时器进行计时。若在预设时长内用户通过交互模块提供的可视化交互界面执行窄路辅助功能的激活操作(例如用户点击激活按钮)，则窄路判断模块可以响应于窄路辅助功能的激活操作，根据无法判断车辆前方道路是否存在窄路的原因，通过交互模块向用户显示与无法判断车辆前方道路是否存在窄路的原因对应的可视化交互界面，以便用户输入与无法判断车辆前方道路是否存在窄路的原因对应的指定信息，并获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路。若在预设时长内用户没有执行激活操作或执行的是非激活操作，则窄路判断模块不激活窄路辅助功能。In some embodiments, when outputting the prompt information, the narrow road judgment module may use a timer to count. If the user performs an activation operation of the narrow road auxiliary function through the visual interactive interface provided by the interactive module within the preset time length (for example, the user clicks an activation button), the narrow road judgment module may respond to the activation operation of the narrow road auxiliary function, and display a visual interactive interface corresponding to the reason why it is impossible to determine whether there is a narrow road on the road ahead of the vehicle through the interactive module to the user, so that the user can input the specified information corresponding to the reason why it is impossible to determine whether there is a narrow road on the road ahead of the vehicle, and obtain the specified information input by the user, and control the vehicle to pass through the narrow road according to the specified information input by the user. If the user does not perform the activation operation or performs a non-activation operation within the preset time length, the narrow road judgment module does not activate the narrow road auxiliary function.

在一些实施方式中，无法判断车辆前方道路是否存在窄路的原因可能是根据障碍物信息无 法识别障碍物类型。在根据障碍物信息无法识别障碍物类型时，窄路判断模块可以确定根据障碍物信息和可行驶区域中的障碍物信息无法判断车辆前方道路是否存在窄路，此时可以通过交互模块提供的可视化交互界面输出用于提示是否激活窄路辅助功能的提示信息。In some embodiments, the reason why it is impossible to determine whether there is a narrow road ahead of the vehicle may be that the obstacle information is not available. When the obstacle type cannot be identified based on the obstacle information, the narrow road judgment module can determine that it is impossible to determine whether there is a narrow road in front of the vehicle based on the obstacle information and the obstacle information in the drivable area. At this time, a prompt message for prompting whether to activate the narrow road assistance function can be output through the visual interactive interface provided by the interactive module.

在一些实施方式中，如前所述，若用户执行窄路辅助功能的激活操作，则表明用户主动激活窄路辅助功能，此时窄路判断模块响应于窄路辅助功能的激活操作，可以获取车辆当前的环境点云信息，通过交互模块提供的可视化交互界面显示环境点云信息，以便用户从环境点云信息中选择可拟合为障碍物轮廓的目标点云信息。窄路判断模块可以通过交互模块获取用户从环境点云信息中选择的目标点云信息，对目标点云信息进行拟合，得到障碍物轮廓，可以将障碍物轮廓作为障碍物信息，执行“在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路”的步骤，即返回执行步骤S120。In some embodiments, as described above, if the user performs an activation operation of the narrow road assistance function, it indicates that the user actively activates the narrow road assistance function. At this time, the narrow road judgment module responds to the activation operation of the narrow road assistance function, and can obtain the current environmental point cloud information of the vehicle, and display the environmental point cloud information through the visual interactive interface provided by the interactive module, so that the user can select the target point cloud information that can be fitted as the obstacle contour from the environmental point cloud information. The narrow road judgment module can obtain the target point cloud information selected by the user from the environmental point cloud information through the interactive module, fit the target point cloud information, and obtain the obstacle contour. The obstacle contour can be used as obstacle information to execute the step of "when it is determined that there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, the trajectory planning is performed according to the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory", that is, return to execute step S120.

本申请实施例中的环境点云信息是一系列点云的集合，其中，点云指的是物体的特征点，例如障碍物的特征点，一个特征点为一个点云，每个点云具有对应的位置，点云位置可以采用世界坐标系下的坐标表示，即点云位置可表示为坐标“(x,y,z)”。本申请实施例中的环境点云信息可以指车辆周围环境的点云数据，也可以指车辆前方环境的点云数据，例如，环境点云信息可以是车辆当前前方的障碍物的点云集合。在一些实施方式中，车辆的感知模块中的激光雷达可以获取车辆当前的环境点云信息，并将环境点云信息传输至窄路判断模块和交互模块。The environmental point cloud information in the embodiment of the present application is a collection of a series of point clouds, wherein a point cloud refers to a feature point of an object, such as a feature point of an obstacle, and one feature point is a point cloud. Each point cloud has a corresponding position, and the point cloud position can be represented by coordinates in the world coordinate system, that is, the point cloud position can be represented as the coordinates "(x, y, z)". The environmental point cloud information in the embodiment of the present application may refer to point cloud data of the environment around the vehicle, or may refer to point cloud data of the environment in front of the vehicle. For example, the environmental point cloud information may be a point cloud collection of obstacles currently in front of the vehicle. In some embodiments, the laser radar in the perception module of the vehicle can obtain the current environmental point cloud information of the vehicle, and transmit the environmental point cloud information to the narrow road judgment module and the interaction module.

由于不同的激光雷达采集的点云的密度不同，为了避免点云过于密集导致数据冗余，也为了避免点云过于密集导致后续用户难以进行点云选择，在一些实施方式中，“获取并显示车辆当前的环境点云信息”可以包括以下步骤：窄路判断模块可以通过感知模块获取车辆当前的环境点云信息；若环境点云信息的密度小于密度阈值，窄路判断模块对环境点云信息进行抽稀处理，得到抽稀处理后的环境点云信息，将抽稀处理后的环境点云信息发送至交互模块；通过交互模块显示抽稀处理后的环境点云信息。其中，抽稀处理指的是在确保点云所形成的物体的基本轮廓不变的情况下，按照预设规则对环境点云信息中的点云数据进行过滤，以减少点云数据的个数，从而达到减少数据冗余并确保点云密度合理的效果。例如，预设规则可以是将相邻且距离小于预设距离的点云数据中的其中一个点云数据删除。Since the density of point clouds collected by different laser radars is different, in order to avoid data redundancy caused by too dense point clouds, and to avoid the difficulty of subsequent users to select point clouds due to too dense point clouds, in some embodiments, "obtaining and displaying the current environmental point cloud information of the vehicle" may include the following steps: the narrow road judgment module may obtain the current environmental point cloud information of the vehicle through the perception module; if the density of the environmental point cloud information is less than the density threshold, the narrow road judgment module performs thinning processing on the environmental point cloud information to obtain the environmental point cloud information after thinning processing, and sends the environmental point cloud information after thinning processing to the interaction module; the environmental point cloud information after thinning processing is displayed through the interaction module. Among them, thinning processing refers to filtering the point cloud data in the environmental point cloud information according to preset rules while ensuring that the basic outline of the object formed by the point cloud remains unchanged, so as to reduce the number of point cloud data, thereby achieving the effect of reducing data redundancy and ensuring reasonable point cloud density. For example, the preset rule may be to delete one of the point cloud data in the adjacent point cloud data whose distance is less than the preset distance.

在一些实施方式中，可以按照以下方式对环境点云信息进行抽稀处理：窄路判断模块可以获取第一预设距离范围内的环境点云信息，计算第一预设距离范围内的环境点云信息中的相邻的两个点云数据之间的距离。若距离小于第二预设距离，则删除相邻的两个点云数据中的其中一个点云数据，以减少冗余数据。若距离大于或等于第二预设距离，则保留相邻两个点云数据，以确保障碍物的基本轮廓准确。其中，第二预设距离小于第一预设距离，为了确保障碍物的基 本轮廓准确，第二预设距离可以设置为小于或等于1厘米。In some embodiments, the environmental point cloud information can be thinned out in the following manner: the narrow road judgment module can obtain the environmental point cloud information within a first preset distance range, and calculate the distance between two adjacent point cloud data in the environmental point cloud information within the first preset distance range. If the distance is less than a second preset distance, one of the two adjacent point cloud data is deleted to reduce redundant data. If the distance is greater than or equal to the second preset distance, the two adjacent point cloud data are retained to ensure that the basic outline of the obstacle is accurate. The second preset distance is less than the first preset distance. In order to ensure the basic outline of the obstacle The contour is accurate and the second preset distance can be set to be less than or equal to 1 cm.

在一些实施方式中，交互模块在获取到环境点云信息(或抽稀处理后的环境点云信息)时，可以渲染环境点云信息(或抽稀处理后的环境点云信息)，并按照预设周期将渲染后的环境点云信息(或抽稀处理后的环境点云信息)显示在车辆的交互模块提供的可视化交互界面上。作为一种示例，如图8所示，环境点云信息(或抽稀处理后的环境点云信息)可以显示在可视化交互界面上，图8中一个点即为一个点云，所有点云的集合形成环境点云信息(或抽稀处理后的环境点云信息)，图8所示的黑色实心椭圆形表示此处存在坑洞。需要说明的是，实际应用中，环境点云信息可以以彩色形式显示，以区分不同的障碍物，增强视觉效果，便于用户观察。In some embodiments, when the interactive module obtains the environmental point cloud information (or the environmental point cloud information after thinning), it can render the environmental point cloud information (or the environmental point cloud information after thinning), and display the rendered environmental point cloud information (or the environmental point cloud information after thinning) on the visual interactive interface provided by the interactive module of the vehicle according to a preset period. As an example, as shown in FIG8 , the environmental point cloud information (or the environmental point cloud information after thinning) can be displayed on the visual interactive interface, and a point in FIG8 is a point cloud, and the collection of all point clouds forms the environmental point cloud information (or the environmental point cloud information after thinning). The black solid oval shown in FIG8 indicates that there is a pothole here. It should be noted that in actual applications, the environmental point cloud information can be displayed in color to distinguish different obstacles, enhance the visual effect, and facilitate user observation.

本申请实施例中的目标点云信息的数量为至少三个，目标点云信息中的点云位置至少包括障碍物的边缘，以确保能够拟合出障碍物轮廓(外轮廓)。目标点云信息的数量越多，则根据目标点云信息拟合得到的障碍物轮廓越准确。在一些实施方式中，用户可以在交互模块提供的可视化交互界面上放大或缩小所显示的环境点云信息，以便用户点击所显示环境点云信息中的点云数据，从所显示的环境点云信息中选择目标点云信息，交互模块可以记录用户所点击的点云数据，形成目标点云信息，将目标点云信息发送至窄路判断模块。The number of target point cloud information in the embodiment of the present application is at least three, and the point cloud position in the target point cloud information includes at least the edge of the obstacle to ensure that the obstacle outline (outer outline) can be fitted. The more target point cloud information there is, the more accurate the obstacle outline fitted according to the target point cloud information. In some embodiments, the user can zoom in or out the displayed environmental point cloud information on the visual interactive interface provided by the interactive module, so that the user clicks on the point cloud data in the displayed environmental point cloud information and selects the target point cloud information from the displayed environmental point cloud information. The interactive module can record the point cloud data clicked by the user to form the target point cloud information and send the target point cloud information to the narrow road judgment module.

在一些实施方式中，窄路判断模块可以采用离散点拟合方法对目标点云信息进行拟合，得到障碍物轮廓。其中，离散点拟合方法可以包括但不限于最小二乘法、梯度下降法、高斯牛顿以及列-马算法等。In some embodiments, the narrow road judgment module may use a discrete point fitting method to fit the target point cloud information to obtain the obstacle contour. The discrete point fitting method may include but is not limited to the least squares method, the gradient descent method, the Gauss-Newton algorithm, and the Lehmann-Massachusetts algorithm.

在一些实施方式中，无法判断车辆前方道路是否存在窄路的原因还可能是由于车身姿态没有正对窄路导致没有获取到可行驶区域。在没有获取到可行驶区域时，窄路判断模块可以确定根据障碍物信息和可行驶区域中的可行驶区域无法判断车辆前方道路是否存在窄路，此时可以通过交互模块提供的可视化交互界面输出用于提示是否激活窄路辅助功能的提示信息。In some embodiments, the reason why it is impossible to determine whether there is a narrow road in front of the vehicle may also be that the vehicle body posture is not facing the narrow road, resulting in the failure to obtain the drivable area. When the drivable area is not obtained, the narrow road determination module can determine that it is impossible to determine whether there is a narrow road in front of the vehicle based on the obstacle information and the drivable area in the drivable area. At this time, a prompt message for prompting whether to activate the narrow road assistance function can be output through the visual interactive interface provided by the interactive module.

在一些实施方式中，如前所述，若用户执行窄路辅助功能的激活操作，则表明用户主动激活窄路辅助功能，此时窄路判断模块响应于窄路辅助功能的激活操作，可以根据障碍物信息(或障碍物轮廓)获取障碍物尺寸；通过交互模块提供的可视化交互界面将障碍物以障碍物尺寸进行显示，同时输出用于提示输入可行驶区域的提示信息，用于提示输入可行驶区域的提示信息可以提示用户当前未检测到足够的可行驶区域，可以手动在可视化交互界面上画出行驶空间来获取可行驶区域。在一些实施方式中，交互模块可以对障碍物进行渲染，采用三维立体显示方式，将障碍物以障碍物尺寸进行显示，以提升视觉效果，便于用户观察。在一些实施方式中，为了用户观察车辆与障碍物之间的相对位置，在显示障碍物和提示信息的同时还可以在可视化交互界面显示车辆。In some embodiments, as described above, if the user performs an activation operation of the narrow road assistance function, it indicates that the user actively activates the narrow road assistance function. At this time, the narrow road judgment module responds to the activation operation of the narrow road assistance function and can obtain the obstacle size according to the obstacle information (or obstacle outline); the obstacle is displayed in the obstacle size through the visual interactive interface provided by the interactive module, and prompt information for prompting the input of the drivable area is output at the same time. The prompt information for prompting the input of the drivable area can prompt the user that there is not enough drivable area detected at present, and the drivable area can be obtained by manually drawing the drivable space on the visual interactive interface. In some embodiments, the interactive module can render the obstacle, and use a three-dimensional display method to display the obstacle in the obstacle size to enhance the visual effect and facilitate user observation. In some embodiments, in order for the user to observe the relative position between the vehicle and the obstacle, the vehicle can be displayed on the visual interactive interface while displaying the obstacle and the prompt information.

作为一种示例，如图9所示，在可视化交互界面显示出障碍物和提示信息之后，提示信息 可以包括如图9所示的文字提示信息“点击开始后给车辆画出一条引导轨迹”以及确认按钮，其中，确认按钮可以高亮显示。用户可以点击确认按钮，触控可视化交互界面手动画出可行驶区域。在用户触控可视化交互界面时，可视化交互界面上的用户触控位置处可以显示触控图案(如图9所示的黑色实心圆形)，用户在触控图案显示后可以在可视化交互界面上继续执行滑动操作，触控图案在滑动操作的过程中跟随滑动操作滑动，并显示触控图案滑过的区域(如图9所示的曲线L1和曲线L2之间的区域)，如图9所示，触控图案滑过的区域可高亮显示以提升视觉效果。在滑动操作执行过程中，可视化交互界面可以显示触控图案滑过的区域，触控图案滑过的区域即为用户输入的区域，响应于滑动操作结束，可视化交互界面不再显示触控图案，可以显示触控图案滑过的区域。为了确保用户所画的区域能够供车辆通行，可以设置触控图案的宽度大于车辆宽度。As an example, as shown in FIG9 , after the obstacle and prompt information are displayed on the visual interactive interface, the prompt information It may include a text prompt message as shown in FIG9, "Click to start and draw a guide track for the vehicle" and a confirmation button, wherein the confirmation button may be highlighted. The user may click the confirmation button and touch the visual interactive interface to manually draw the drivable area. When the user touches the visual interactive interface, a touch pattern (a black solid circle as shown in FIG9) may be displayed at the user's touch position on the visual interactive interface. After the touch pattern is displayed, the user may continue to perform a sliding operation on the visual interactive interface. The touch pattern slides along with the sliding operation during the sliding operation, and displays the area where the touch pattern slides (the area between the curve L1 and the curve L2 as shown in FIG9). As shown in FIG9, the area where the touch pattern slides may be highlighted to enhance the visual effect. During the sliding operation, the visual interactive interface may display the area where the touch pattern slides, and the area where the touch pattern slides is the area input by the user. In response to the end of the sliding operation, the visual interactive interface no longer displays the touch pattern, and may display the area where the touch pattern slides. In order to ensure that the area drawn by the user can be passed by the vehicle, the width of the touch pattern may be set to be greater than the width of the vehicle.

在用户按照上述方式画可行驶区域的过程中，交互模块可以记录用户输入的区域对应的特征点，并将用户输入的区域对应的特征点采用世界坐标系的坐标“(x,y,z)”进行表示。在用户画完可行驶区域后，交互模块可以将用户输入的区域对应的特征点传输至窄路判断模块。When the user draws the drivable area in the above manner, the interaction module can record the feature points corresponding to the area input by the user, and represent the feature points corresponding to the area input by the user using the coordinates "(x, y, z)" of the world coordinate system. After the user finishes drawing the drivable area, the interaction module can transmit the feature points corresponding to the area input by the user to the narrow road judgment module.

在一些实施方式中，窄路判断模块可以获取用户输入的区域(即上述触控图案滑过的区域)；若根据障碍物信息能够识别障碍物类型，将用户输入的区域作为可行驶区域，执行“在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路”的步骤，即返回执行步骤S120。In some embodiments, the narrow road judgment module can obtain the area input by the user (i.e., the area over which the above-mentioned touch pattern slides); if the obstacle type can be identified based on the obstacle information, the area input by the user is used as the drivable area, and the step of "when it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, trajectory planning is performed based on the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory" is executed, that is, returning to execute step S120.

在一些实施方式中，“获取用户输入的区域”可以包括以下步骤：通过交互模块提供的可视化交互界面显示触控图案，触控图案的宽度大于或等于车辆宽度；通过交互模块获取作用于触控图案上的滑动操作，触控图案随着滑动操作滑动；响应于滑动操作结束，将触控图案在滑动过程中滑过的区域作为用户输入的区域。“获取用户输入的区域”的详细描述请参阅上述关于图9的描述。In some embodiments, "obtaining the area input by the user" may include the following steps: displaying a touch pattern through a visual interactive interface provided by an interactive module, wherein the width of the touch pattern is greater than or equal to the width of the vehicle; obtaining a sliding operation on the touch pattern through the interactive module, wherein the touch pattern slides with the sliding operation; in response to the end of the sliding operation, taking the area over which the touch pattern slides during the sliding process as the area input by the user. For a detailed description of "obtaining the area input by the user", please refer to the above description of FIG. 9.

在一些实施方式中，无法判断车辆前方道路是否存在窄路的原因可能包括根据障碍物信息无法识别障碍物类型以及由于车身姿态没有正对窄路导致没有获取到可行驶区域。在根据障碍物信息无法识别障碍物类型且没有获取到可行驶区域时，窄路判断模块可以确定根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路，此时窄路判断模块可以按照上述方式分别获取障碍物轮廓和用户输入的区域，将障碍物轮廓作为障碍物信息，将用户输入的区域作为可行驶区域，执行“在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路”的步骤，即返回执行步骤S120。In some embodiments, the reason why it is impossible to determine whether there is a narrow road on the road ahead of the vehicle may include that the obstacle type cannot be identified based on the obstacle information and the drivable area cannot be obtained because the vehicle body posture is not facing the narrow road. When the obstacle type cannot be identified based on the obstacle information and the drivable area is not obtained, the narrow road judgment module can determine that it is impossible to determine whether there is a narrow road on the road ahead of the vehicle based on the obstacle information and the drivable area. At this time, the narrow road judgment module can obtain the obstacle contour and the area input by the user respectively in the above manner, use the obstacle contour as the obstacle information, and use the area input by the user as the drivable area, and execute the step of "when it is determined that there is a narrow road on the road ahead of the vehicle based on the obstacle information and the drivable area, perform trajectory planning based on the obstacle information and the drivable area to form a driving trajectory, and control the vehicle to pass through the narrow road according to the driving trajectory", that is, return to execute step S120.

本申请实施例提供的窄路通信方法，可以在根据车辆当前的障碍物信息和可行驶区域判定 车辆前方道路存在窄路时，可以根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路，从而可以实现车辆自动识别窄路并自动通过窄路，减轻驾驶员驾驶车辆通过窄路的驾驶压力。此外，在根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，可以根据用户(例如驾驶员)输入的指定信息控制车辆通过窄路，从而可以在窄路辅助***面临复杂窄路无法自动激活的场景下，通过用户激活窄路辅助***，并使得窄路辅助***可以根据用户输入的指定信息控制车辆通过窄路，从而可以提升窄路辅助***的可用性和丰富窄路辅助***的使用场景。The narrow road communication method provided in the embodiment of the present application can be used to determine the current obstacle information and drivable area of the vehicle. When there is a narrow road ahead of the vehicle, the trajectory planning can be performed according to the obstacle information and the drivable area to form a driving trajectory, and the vehicle can be controlled to pass through the narrow road according to the driving trajectory, so that the vehicle can automatically identify the narrow road and automatically pass through the narrow road, reducing the driving pressure of the driver to drive the vehicle through the narrow road. In addition, when it is impossible to determine whether there is a narrow road ahead of the vehicle according to the obstacle information and the drivable area, in response to the activation operation of the narrow road assistance function, the vehicle can be controlled to pass through the narrow road according to the specified information input by the user (such as the driver), so that in the scenario where the narrow road assistance system cannot be automatically activated due to complex narrow roads, the narrow road assistance system can be activated by the user, and the narrow road assistance system can control the vehicle to pass through the narrow road according to the specified information input by the user, thereby improving the usability of the narrow road assistance system and enriching the use scenarios of the narrow road assistance system.

图10是本申请一实施例提供的窄路通行方法的流程示意图。该窄路通行方法可以应用于窄路通行***100或窄路通行装置200或车辆300。该窄路通行方法可以包括以下步骤S210至步骤S250。Fig. 10 is a schematic flow chart of a narrow road passage method provided in an embodiment of the present application. The narrow road passage method can be applied to a narrow road passage system 100 or a narrow road passage device 200 or a vehicle 300. The narrow road passage method can include the following steps S210 to S250.

步骤S210，获取车辆当前的障碍物信息和可行驶区域。该步骤S210的具体描述请参阅上述步骤S110，在此不再赘述。Step S210, obtaining the current obstacle information and drivable area of the vehicle. The specific description of step S210 refers to the above step S110, which will not be repeated here.

步骤S220，根据障碍物信息和可行驶区域判断车辆前方道路是否存在窄路。Step S220: determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area.

在一些实施方式中，窄路判断模块可以根据障碍物信息中的障碍物位置，计算形成窄路的两侧障碍物之间的距离作为第一距离；根据障碍物信息识别障碍物类型；若第一距离大于第二距离且小于第三距离，且障碍物类型为预设类型，且可行驶区域不包括不可行驶区域，且可行驶区域的长度大于长度阈值，判定车辆前方道路存在窄路，否则，则判定车辆前方道路不存在窄路。其中，第一距离也可以由测距传感器测量得到。上述窄路条件判断方式考虑了可行驶区域的宽度和长度、障碍物类型、可行驶区域是否包括不可行驶区域多个因素，可以提升窄路判断结果的准确性，为窄路辅助功能的准确使用提供支撑，降低车辆在通过窄路的过程中存在的碰撞窄路障碍物的风险，提升车辆驾驶的安全性。In some embodiments, the narrow road judgment module can calculate the distance between the obstacles on both sides of the narrow road as the first distance according to the obstacle position in the obstacle information; identify the obstacle type according to the obstacle information; if the first distance is greater than the second distance and less than the third distance, and the obstacle type is a preset type, and the drivable area does not include a non-drivable area, and the length of the drivable area is greater than the length threshold, it is determined that there is a narrow road on the road ahead of the vehicle, otherwise, it is determined that there is no narrow road on the road ahead of the vehicle. Among them, the first distance can also be measured by a ranging sensor. The above-mentioned narrow road condition judgment method takes into account multiple factors such as the width and length of the drivable area, the obstacle type, and whether the drivable area includes a non-drivable area. It can improve the accuracy of the narrow road judgment result, provide support for the accurate use of the narrow road auxiliary function, reduce the risk of collision with narrow road obstacles in the process of passing through the narrow road, and improve the safety of vehicle driving.

本申请实施例中的第二距离可以指启动窄路辅助功能时车辆能够通过窄路的最小宽度与可行驶区域的宽度(即形成窄路的两侧障碍物之间的距离)之和。本申请实施例中的第三距离可以指启动窄路辅助功能时车辆能够通过窄路的最大宽度与可行驶区域的宽度之和。作为一种示例，第一距离大于第二距离且小于第三距离可以采用以下表达式进行表示：
W_ego+W_min<R<W_ego+W_max,The second distance in the embodiment of the present application may refer to the sum of the minimum width of the narrow road that the vehicle can pass through when the narrow road assistance function is activated and the width of the drivable area (i.e., the distance between the obstacles on both sides of the narrow road). The third distance in the embodiment of the present application may refer to the sum of the maximum width of the narrow road that the vehicle can pass through when the narrow road assistance function is activated and the width of the drivable area. As an example, the first distance greater than the second distance and less than the third distance can be expressed by the following expression:
W _ego +W _min <R<W _ego +W _max ,

其中，R指的是可行驶区域的宽度(即形成窄路的两侧障碍物之间的距离)；W_ego指的是车辆宽度；W_min指的是启动窄路辅助功能时车辆能够通过窄路的最小宽度；W_max指的是启动窄路辅助功能时车辆能够通过窄路的最大宽度。Among them, R refers to the width of the drivable area (that is, the distance between the obstacles on both sides of the narrow road); W _ego refers to the vehicle width; W _min refers to the minimum width of the narrow road that the vehicle can pass when the narrow road assistance function is activated; W _max refers to the maximum width of the narrow road that the vehicle can pass when the narrow road assistance function is activated.

本申请实施例中的障碍物类型和预设类型可以相同，可以不同，例如，障碍物类型和预设类型均可以包括上述石墩、石柱、车辆。 The obstacle type and the preset type in the embodiment of the present application may be the same or different. For example, the obstacle type and the preset type may both include the above-mentioned stone piers, stone pillars, and vehicles.

本申请实施例中的不可行驶区域指的是阻碍车辆通行的区域，不可行驶区域可以包括但不限于存在较大坑洞(例如，坑洞的宽度大于车辆车轮的宽度或大于车辆宽度)的区域，或存在禁止通行标志的区域等。The non-drivable area in the embodiment of the present application refers to an area that hinders the passage of vehicles. The non-drivable area may include but is not limited to areas with large potholes (for example, the width of the pothole is greater than the width of the vehicle wheel or greater than the width of the vehicle), or areas with no-entry signs, etc.

本申请实施例中的长度阈值可以根据实际需求进行设置，例如，长度阈值可以与上述抽稀处理中的第一预设距离相同。The length threshold in the embodiment of the present application can be set according to actual needs. For example, the length threshold can be the same as the first preset distance in the above-mentioned thinning process.

按照上述方式，若根据障碍物信息和可行驶区域判定车辆前方道路存在窄路，则根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路，即执行步骤S230。According to the above method, if it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, trajectory planning is performed based on the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory, that is, step S230 is executed.

按照上述方式，若根据障碍物信息和可行驶区域判定车辆前方道路不存在窄路，则不激活窄路辅助功能，即执行步骤S240。According to the above method, if it is determined that there is no narrow road in front of the vehicle based on the obstacle information and the drivable area, the narrow road assistance function is not activated, that is, step S240 is executed.

如前所述，若根据障碍物信息无法识别障碍物类型和没有获取到可行驶区域，可以确定根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路，则窄路判断模块响应于窄路辅助功能的激活操作，可以获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路，即执行步骤S250。As mentioned above, if the obstacle type cannot be identified based on the obstacle information and the drivable area is not obtained, it can be determined that it is impossible to determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area. The narrow road judgment module responds to the activation operation of the narrow road auxiliary function and can obtain the specified information input by the user, and control the vehicle to pass through the narrow road based on the specified information input by the user, that is, execute step S250.

步骤S230，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路。Step S230, performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory.

步骤S240，不激活窄路辅助功能。Step S240, deactivating the narrow road assistance function.

步骤S250，响应于窄路辅助功能的激活操作，获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路。Step S250, in response to the activation operation of the narrow road assistance function, obtaining the specified information input by the user, and controlling the vehicle to pass through the narrow road according to the specified information input by the user.

其中，步骤S230至步骤S250的具体描述请参阅上述步骤S120和步骤S130，在此不再赘述。For the detailed description of steps S230 to S250 , please refer to the above-mentioned steps S120 and S130 , which will not be repeated here.

相比于图7所示的窄路通行方法，图10所示的窄路通行方法进一步还包括以下技术效果：可以根据障碍物信息和可行驶区域判断车辆前方道路是否存在窄路，根据车辆前方道路存在窄路、车辆前方道路不存在窄路以及无法判断车辆前方道路是否存在窄路三种判断结果可以分别执行对应的操作，考虑了不同应用场景下是否使用以及如何使用窄路辅助功能，从而可以提升窄路辅助功能的使用灵活性和丰富窄路辅助功能的应用场景。此外，本申请实施例中的窄路条件判断方式考虑了可行驶区域的宽度和长度、障碍物类型、可行驶区域是否包括不可行驶区域多个因素，可以提升窄路判断结果的准确性，为窄路辅助功能的准确使用提供支撑，降低车辆在通过窄路的过程中存在的碰撞窄路障碍物的风险，提升车辆驾驶的安全性。Compared with the narrow road passing method shown in FIG7 , the narrow road passing method shown in FIG10 further includes the following technical effects: it is possible to judge whether there is a narrow road in front of the vehicle based on the obstacle information and the drivable area, and corresponding operations can be performed respectively according to the three judgment results of whether there is a narrow road in front of the vehicle, whether there is no narrow road in front of the vehicle, and whether there is a narrow road in front of the vehicle. Consideration is given to whether to use and how to use the narrow road auxiliary function in different application scenarios, thereby improving the flexibility of the use of the narrow road auxiliary function and enriching the application scenarios of the narrow road auxiliary function. In addition, the narrow road condition judgment method in the embodiment of the present application takes into account multiple factors such as the width and length of the drivable area, the obstacle type, and whether the drivable area includes a non-drivable area, which can improve the accuracy of the narrow road judgment result, provide support for the accurate use of the narrow road auxiliary function, reduce the risk of collision with narrow road obstacles in the process of passing through the narrow road, and improve the safety of vehicle driving.

图11是本申请一实施例提供的窄路通行装置的结构示意图。窄路通行装置200可以应用于车辆。窄路通行装置200可以包括信息获取模块210、窄路辅助模块220以及人机交互模块230。 FIG11 is a schematic diagram of the structure of a narrow road passage device provided in an embodiment of the present application. The narrow road passage device 200 can be applied to a vehicle. The narrow road passage device 200 can include an information acquisition module 210 , a narrow road auxiliary module 220 , and a human-computer interaction module 230 .

信息获取模块210，用于获取车辆当前的障碍物信息和可行驶区域。The information acquisition module 210 is used to obtain the current obstacle information and drivable area of the vehicle.

窄路辅助模块220，用于在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路，所述窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路。The narrow road auxiliary module 220 is used to plan a trajectory to form a driving trajectory based on the obstacle information and the drivable area when it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, and control the vehicle to pass through the narrow road according to the driving trajectory. The narrow road is a road where the vehicle's drivable area is smaller than the drivable area of the road on which the vehicle is currently located.

人机交互模块230，用于在根据所述障碍物信息和所述可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息。The human-computer interaction module 230 is used to obtain the specified information input by the user in response to the activation operation of the narrow road auxiliary function when it cannot be determined whether there is a narrow road in front of the vehicle according to the obstacle information and the drivable area.

窄路辅助模块220，还用于根据用户输入的指定信息控制车辆通过窄路。The narrow road auxiliary module 220 is also used to control the vehicle to pass through the narrow road according to the specified information input by the user.

在一些实施方式中，窄路辅助模块220，还用于在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹之前，根据所述障碍物信息中的障碍物位置，计算形成窄路的两侧障碍物之间的距离作为第一距离；根据所述障碍物信息识别障碍物类型；若所述第一距离大于第二距离且小于第三距离，且所述障碍物类型为预设类型，且所述可行驶区域不包括不可行驶区域，且所述可行驶区域的长度大于长度阈值，确定车辆前方道路存在窄路。In some embodiments, the narrow road auxiliary module 220 is also used to calculate the distance between the obstacles on both sides of the narrow road as the first distance according to the obstacle position in the obstacle information before forming a driving trajectory by performing trajectory planning according to the obstacle information and the drivable area when it is determined that there is a narrow road on the road ahead of the vehicle based on the obstacle information and the drivable area; identify the obstacle type according to the obstacle information; if the first distance is greater than the second distance and less than the third distance, and the obstacle type is a preset type, and the drivable area does not include a non-drivable area, and the length of the drivable area is greater than a length threshold, it is determined that there is a narrow road on the road ahead of the vehicle.

在一些实施方式中，人机交互模块230，还用于获取并显示车辆当前的环境点云信息；获取用户从所述环境点云信息中选择的目标点云信息。窄路辅助模块220，还用于对所述目标点云信息进行拟合，得到障碍物轮廓；将所述障碍物轮廓作为障碍物信息，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤。In some embodiments, the human-computer interaction module 230 is further used to obtain and display the current environmental point cloud information of the vehicle; obtain the target point cloud information selected by the user from the environmental point cloud information. The narrow road auxiliary module 220 is further used to fit the target point cloud information to obtain the obstacle contour; use the obstacle contour as obstacle information, and execute the steps of: when it is determined that there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory.

在一些实施方式中，窄路辅助模块220，还用于获取车辆当前的环境点云信息；若所述环境点云信息的密度小于密度阈值，对所述环境点云信息进行抽稀处理，得到抽稀处理后的环境点云信息。人机交互模块230，还用于显示抽稀处理后的环境点云信息。In some embodiments, the narrow road auxiliary module 220 is further used to obtain the current environmental point cloud information of the vehicle; if the density of the environmental point cloud information is less than the density threshold, the environmental point cloud information is thinned to obtain the thinned environmental point cloud information. The human-computer interaction module 230 is further used to display the thinned environmental point cloud information.

在一些实施方式中，窄路辅助模块220，还用于在所述获取并显示车辆当前的环境点云信息之前，若根据所述障碍物信息无法识别障碍物类型，确定根据所述障碍物信息和所述可行驶区域中的所述障碍物信息无法判断车辆前方道路是否存在窄路。人机交互模块230，还用于输出用于提示是否激活窄路辅助功能的提示信息。In some embodiments, the narrow road assistance module 220 is further configured to determine whether there is a narrow road in front of the vehicle based on the obstacle information and the obstacle information in the drivable area before acquiring and displaying the current environment point cloud information of the vehicle. The human-computer interaction module 230 is further configured to output prompt information for prompting whether to activate the narrow road assistance function, if the obstacle type cannot be identified based on the obstacle information.

在一些实施方式中，所述目标点云信息的数量为至少三个，所述目标点云信息中的点云位置至少包括障碍物的边缘。In some implementations, the number of the target point cloud information is at least three, and the point cloud positions in the target point cloud information at least include the edge of the obstacle.

在一些实施方式中，人机交互模块230，还用于获取用户输入的区域。窄路辅助模块220，还用于若根据所述障碍物信息能够识别障碍物类型，将用户输入的区域作为可行驶区域，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物 信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤；或者，若根据所述障碍物信息无法识别障碍物类型，将用户输入的区域作为可行驶区域，将所述障碍物轮廓作为障碍物信息，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤。In some embodiments, the human-computer interaction module 230 is further configured to obtain the area input by the user. The narrow road auxiliary module 220 is further configured to, if the obstacle type can be identified according to the obstacle information, use the area input by the user as the drivable area, and execute the following steps: when it is determined that there is a narrow road in front of the vehicle according to the obstacle information and the drivable area, The step of performing trajectory planning based on the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory; or, if the obstacle type cannot be identified according to the obstacle information, taking the area input by the user as the drivable area, and taking the obstacle outline as the obstacle information, executing the step of performing trajectory planning based on the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory when it is determined that there is a narrow road ahead of the vehicle according to the obstacle information and the drivable area, and controlling the vehicle to pass through the narrow road according to the driving trajectory.

在一些实施方式中，人机交互模块230，还用于显示触控图案，所述触控图案的宽度大于或等于车辆宽度；获取作用于所述触控图案上的滑动操作，所述触控图案随着所述滑动操作滑动；响应于所述滑动操作结束，将所述触控图案在滑动过程中滑过的区域作为用户输入的区域。In some embodiments, the human-computer interaction module 230 is also used to display a touch pattern, the width of which is greater than or equal to the width of the vehicle; obtain a sliding operation applied to the touch pattern, the touch pattern sliding along with the sliding operation; in response to the end of the sliding operation, use the area over which the touch pattern slides during the sliding process as an area for user input.

在一些实施方式中，人机交互模块230，还用于在所述获取用户输入的区域之前，根据所述障碍物信息或所述障碍物轮廓获取障碍物尺寸；将障碍物以所述障碍物尺寸进行显示；输出用于提示输入可行驶区域的提示信息。In some embodiments, the human-computer interaction module 230 is further used to obtain the obstacle size based on the obstacle information or the obstacle outline before obtaining the area input by the user; display the obstacle at the obstacle size; and output prompt information for prompting input of the drivable area.

在一些实施方式中，窄路辅助模块220，还用于在所述获取用户输入的区域之前，若没有获取到所述可行驶区域，确定根据所述障碍物信息和所述可行驶区域中的所述可行驶区域无法判断车辆前方道路是否存在窄路。人机交互模块230，还用于输出用于提示是否激活窄路辅助功能的提示信息。In some embodiments, the narrow road assistance module 220 is further configured to determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area in the drivable area before obtaining the area input by the user, if the drivable area is not obtained. The human-computer interaction module 230 is further configured to output prompt information for prompting whether to activate the narrow road assistance function.

本领域技术人员可以清楚地了解到，本申请实施例提供的窄路通行装置200可以实现本申请实施例提供的窄路通行方法。上述装置和模块的具体工作过程，可以参阅本申请实施例中的窄路通行方法对应的过程，在此不再赘述。Those skilled in the art can clearly understand that the narrow road passing device 200 provided in the embodiment of the present application can implement the narrow road passing method provided in the embodiment of the present application. The specific working process of the above-mentioned device and module can refer to the corresponding process of the narrow road passing method in the embodiment of the present application, which will not be repeated here.

本申请提供的实施例中，所显示或讨论的模块相互之间的耦合、直接耦合或者通信连接，可以是通过一些接口、装置或模块的间接耦合或通信耦合，可以是电性、机械或其他形式，本申请实施例对此不作限制。In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application are not limited to this.

另外，在本申请实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件的功能模块的形式实现，本申请实施例在此不作限制。In addition, each functional module in the embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules, which is not limited in the embodiment of the present application.

图12是本申请一实施例提供的车辆的结构示意图。车辆300可以包括上述窄路通行***100或窄路通信装置200。该车辆300可以包括一个或多个如下部件：存储器310、一个或多个处理器320以及一个或多个应用程序，其中一个或多个应用程序可以被存储在存储器310中并被配置为当被一个或多个处理器320调用时使得一个或多个处理器320执行本申请实施例提供的上述窄路通行方法。FIG12 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 300 may include the narrow road passage system 100 or the narrow road communication device 200. The vehicle 300 may include one or more of the following components: a memory 310, one or more processors 320, and one or more applications, wherein the one or more applications may be stored in the memory 310 and configured to enable the one or more processors 320 to execute the narrow road passage method provided in an embodiment of the present application when called by the one or more processors 320.

处理器320可以包括一个或多个处理核。处理器320利用各种接口和线路连接整个车辆300内各个部分，用于运行或执行存储在存储器310内的指令、程序、代码集或指令集，以及调用 运行或执行存储在存储器310内的数据，执行车辆300的各种功能和处理数据。The processor 320 may include one or more processing cores. The processor 320 uses various interfaces and lines to connect various parts of the entire vehicle 300 to run or execute instructions, programs, code sets or instruction sets stored in the memory 310, and call The data stored in the memory 310 is run or executed to perform various functions of the vehicle 300 and process data.

处理器320可以采用数字信号处理(Digital Signal Processing，简称DSP)、现场可编程门阵列(Field-Programmable Gate Array，简称FPGA)、可编辑逻辑阵列(Programmable Logic Array，简称PLA)中的至少一种硬件形式来实现。The processor 320 can be implemented using at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA).

处理器320可集成中央处理器(Central Processing Unit，简称CPU)、图像处理器(Graphics Processing Unit，简称GPU)和调制解调器中的一种或几种的组合。其中，CPU主要处理操作***、用户界面和应用程序等；GPU用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成于处理器320中，单独通过一块通信芯片进行实现。The processor 320 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 320, but may be implemented separately through a communication chip.

存储器310可以包括随机存储器(Random Access Memory，简称RAM)，也可以包括只读存储器(Read-Only Memory，简称ROM)。存储器310可以用于存储指令、程序、代码、代码集或指令集。存储器310可以包括存储程序区和存储数据区。其中，存储程序区可以存储用于实现操作***的指令、用于实现至少一个功能的指令、用于实现上述各个方法实施例的指令等。存储数据区可以存储车辆300在使用中所创建的数据等。The memory 310 may include a random access memory (RAM) or a read-only memory (ROM). The memory 310 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 310 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may store data created by the vehicle 300 during use, etc.

图13是本申请一实施例提供的计算机可读取存储介质的结构示意图。该计算机可读取存储介质400中存储有程序代码410，该程序代码410被配置为当被处理器调用时使得处理器执行本申请实施例提供的上述窄路通行方法。Fig. 13 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 400 stores a program code 410, which is configured to cause the processor to execute the above-mentioned narrow road passing method provided in an embodiment of the present application when called by the processor.

计算机可读取存储介质400可以包括但不限于闪存、电可擦除可编辑只读存储器(Electrically-Erasable Programmable Read-Only Memory，简称EEPROM)、可擦除可编辑只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)、硬盘或者ROM之类的电子存储器。The computer-readable storage medium 400 may include, but is not limited to, electronic storage such as flash memory, Electrically-Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), a hard disk or ROM.

在一些实施方式中，计算机可读取存储介质400可以包括非易失性计算机可读介质(Non-Transitory Computer-Readable Storage Medium，简称Non-TCRSM)。计算机可读取存储介质400具有执行上述方法中的任何方法步骤的程序代码410的存储空间。这些程序代码410可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。程序代码410可以以适当的形式进行压缩。In some embodiments, the computer-readable storage medium 400 may include a non-transitory computer-readable medium (Non-TCRSM). The computer-readable storage medium 400 has storage space for program codes 410 for executing any method steps in the above method. These program codes 410 can be read from or written to one or more computer program products. The program codes 410 can be compressed in an appropriate form.

综上所述，本申请实施例提供一种窄路通行方法、装置、车辆及存储介质。该方法在根据障碍物信息和可行驶区域判定车辆前方道路存在窄路时，根据障碍物信息和可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照行驶轨迹通过窄路；在根据障碍物信息和可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路，从而可以实现车辆自动识别窄路并自动通 过窄路，减轻驾驶员驾驶车辆通过窄路的驾驶压力，还可以提升窄路辅助***的可用性和丰富窄路辅助***的使用场景。In summary, the embodiments of the present application provide a method, device, vehicle and storage medium for passing through narrow roads. When the method determines that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, the method performs trajectory planning based on the obstacle information and the drivable area to form a driving trajectory, and controls the vehicle to pass through the narrow road according to the driving trajectory; when the method cannot determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, the method obtains the specified information input by the user in response to the activation operation of the narrow road auxiliary function, and controls the vehicle to pass through the narrow road based on the specified information input by the user, so that the vehicle can automatically identify the narrow road and automatically pass through it. It can reduce the driving pressure of the driver when driving the vehicle through narrow roads, and can also improve the usability of the narrow road assistance system and enrich the usage scenarios of the narrow road assistance system.

最后应说明的是：以上实施例仅用于说明本申请的技术方案，而非对其限制。尽管参照前述实施例对本申请进行了详细的说明，本领域技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不驱使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (13)

1. 一种窄路通行方法，其特征在于，包括：A narrow road passage method, characterized by comprising:

   获取车辆当前的障碍物信息和可行驶区域；Obtain the vehicle's current obstacle information and drivable area;

   在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路，所述窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路；When it is determined that there is a narrow road ahead of the vehicle according to the obstacle information and the drivable area, trajectory planning is performed according to the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory, wherein the narrow road is a road in which the drivable area of the vehicle is smaller than the drivable area of the road currently located by the vehicle;

   在根据所述障碍物信息和所述可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路。When it is impossible to determine whether there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, in response to an activation operation of a narrow road assistance function, specified information input by a user is obtained, and the vehicle is controlled to pass through the narrow road based on the specified information input by the user.
2. 根据权利要求1所述的方法，其特征在于，所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹之前，所述方法还包括：The method according to claim 1 is characterized in that when it is determined that there is a narrow road ahead of the vehicle according to the obstacle information and the drivable area, before performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, the method further comprises:

   根据所述障碍物信息中的障碍物位置，计算形成窄路的两侧障碍物之间的距离作为第一距离；Calculate the distance between the obstacles on both sides of the narrow road as the first distance according to the obstacle position in the obstacle information;

   根据所述障碍物信息识别障碍物类型；identifying the obstacle type according to the obstacle information;

   若所述第一距离大于第二距离且小于第三距离，且所述障碍物类型为预设类型，且所述可行驶区域不包括不可行驶区域，且所述可行驶区域的长度大于长度阈值，确定车辆前方道路存在窄路，其中，所述第二距离为启动窄路辅助功能时车辆能够通过窄路的最小宽度与所述可行驶区域的宽度之和，所述第三距离为启动窄路辅助功能时车辆能够通过窄路的最大宽度与所述可行驶区域的宽度之和，所述可行驶区域为形成窄路的障碍物之间的区域且所述可行驶区域的宽度大于车辆宽度，所述不可行驶区域为阻碍车辆通行的区域。If the first distance is greater than the second distance and less than the third distance, and the obstacle type is a preset type, and the drivable area does not include a non-drivable area, and the length of the drivable area is greater than a length threshold, it is determined that there is a narrow road ahead of the vehicle, wherein the second distance is the sum of the minimum width of the narrow road that the vehicle can pass through when the narrow road assist function is activated and the width of the drivable area, and the third distance is the sum of the maximum width of the narrow road that the vehicle can pass through when the narrow road assist function is activated and the width of the drivable area, the drivable area is the area between obstacles forming the narrow road and the width of the drivable area is greater than the width of the vehicle, and the non-drivable area is the area that hinders the passage of the vehicle.
3. 根据权利要求1所述的方法，其特征在于，所述获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路，包括：The method according to claim 1 is characterized in that the obtaining of the specified information input by the user and controlling the vehicle to pass through the narrow road according to the specified information input by the user comprises:

   获取并显示车辆当前的环境点云信息；Obtain and display the vehicle's current environmental point cloud information;

   获取用户从所述环境点云信息中选择的目标点云信息；Acquire target point cloud information selected by a user from the environmental point cloud information;

   对所述目标点云信息进行拟合，得到障碍物轮廓；Fitting the target point cloud information to obtain an obstacle contour;

   将所述障碍物轮廓作为障碍物信息，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤。 The obstacle contour is used as obstacle information, and when it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, trajectory planning is performed based on the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory.
4. 根据权利要求3所述的方法，其特征在于，所述获取并显示车辆当前的环境点云信息，包括：The method according to claim 3 is characterized in that the step of obtaining and displaying the current environmental point cloud information of the vehicle comprises:

   获取车辆当前的环境点云信息；Get the current environmental point cloud information of the vehicle;

   若所述环境点云信息的密度小于密度阈值，对所述环境点云信息进行抽稀处理，得到抽稀处理后的环境点云信息；If the density of the environmental point cloud information is less than the density threshold, thinning the environmental point cloud information to obtain the thinned environmental point cloud information;

   显示抽稀处理后的环境点云信息。Display the environment point cloud information after thinning.
5. 根据权利要求3所述的方法，其特征在于，所述获取并显示车辆当前的环境点云信息之前，所述方法还包括：The method according to claim 3, characterized in that before acquiring and displaying the current environmental point cloud information of the vehicle, the method further comprises:

   若根据所述障碍物信息无法识别障碍物类型，确定根据所述障碍物信息和所述可行驶区域中的所述障碍物信息无法判断车辆前方道路是否存在窄路；If the obstacle type cannot be identified according to the obstacle information, determining whether there is a narrow road ahead of the vehicle cannot be determined according to the obstacle information and the obstacle information in the drivable area;

   输出用于提示是否激活窄路辅助功能的提示信息。Outputs a prompt message for prompting whether to activate the narrow road assistance function.
6. 根据权利要求3所述的方法，其特征在于，所述目标点云信息的数量为至少三个，所述目标点云信息中的点云位置至少包括障碍物的边缘。The method according to claim 3 is characterized in that the number of the target point cloud information is at least three, and the point cloud positions in the target point cloud information at least include the edges of the obstacles.
7. 根据权利要求3至6任一项所述的方法，其特征在于，所述获取用户输入的指定信息，根据用户输入的指定信息控制车辆通过窄路，还包括：The method according to any one of claims 3 to 6, characterized in that the step of obtaining the specified information input by the user and controlling the vehicle to pass through the narrow road according to the specified information input by the user further comprises:

   获取用户输入的区域；Get the area input by the user;

   若根据所述障碍物信息能够识别障碍物类型，将用户输入的区域作为可行驶区域，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤；或者，If the obstacle type can be identified according to the obstacle information, the area input by the user is used as the drivable area, and when it is determined that there is a narrow road ahead of the vehicle according to the obstacle information and the drivable area, the step of performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory is performed; or,

   若根据所述障碍物信息无法识别障碍物类型，将用户输入的区域作为可行驶区域，将所述障碍物轮廓作为障碍物信息，执行所述在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路的步骤。If the obstacle type cannot be identified based on the obstacle information, the area input by the user is used as the drivable area, and the obstacle outline is used as the obstacle information. When it is determined that there is a narrow road ahead of the vehicle based on the obstacle information and the drivable area, trajectory planning is performed based on the obstacle information and the drivable area to form a driving trajectory, and the vehicle is controlled to pass through the narrow road according to the driving trajectory.
8. 根据权利要求7所述的方法，其特征在于，所述获取用户输入的区域，包括：The method according to claim 7, characterized in that the obtaining of the area input by the user comprises:

   显示触控图案，所述触控图案的宽度大于或等于车辆宽度；Displaying a touch pattern, wherein the width of the touch pattern is greater than or equal to the width of the vehicle;

   获取作用于所述触控图案上的滑动操作，所述触控图案随着所述滑动操作滑动；Acquire a sliding operation on the touch pattern, wherein the touch pattern slides along with the sliding operation;

   响应于所述滑动操作结束，将所述触控图案在滑动过程中滑过的区域作为用户输入的区域。In response to the sliding operation ending, the area over which the touch pattern slides during the sliding process is used as the area of user input.
9. 根据权利要求7所述的方法，其特征在于，所述获取用户输入的区域之前，所述方法还包括：The method according to claim 7, characterized in that before obtaining the area input by the user, the method further comprises:

   根据所述障碍物信息或所述障碍物轮廓获取障碍物尺寸； Obtaining an obstacle size according to the obstacle information or the obstacle outline;

   将障碍物以所述障碍物尺寸进行显示；Displaying the obstacle at the obstacle size;

   输出用于提示输入可行驶区域的提示信息。Outputs prompt information for entering the drivable area.
10. 根据权利要求7所述的方法，其特征在于，所述获取用户输入的区域之前，所述方法还包括：The method according to claim 7, characterized in that before obtaining the area input by the user, the method further comprises:

    若没有获取到所述可行驶区域，确定根据所述障碍物信息和所述可行驶区域中的所述可行驶区域无法判断车辆前方道路是否存在窄路；If the drivable area is not obtained, determining whether there is a narrow road ahead of the vehicle cannot be determined based on the obstacle information and the drivable area in the drivable area;

    输出用于提示是否激活窄路辅助功能的提示信息。Outputs a prompt message for prompting whether to activate the narrow road assist function.
11. 一种窄路通行装置，其特征在于，包括：A narrow road passing device, characterized by comprising:

    信息获取模块，用于获取车辆当前的障碍物信息和可行驶区域；An information acquisition module is used to obtain the vehicle's current obstacle information and drivable area;

    窄路辅助模块，用于在根据所述障碍物信息和所述可行驶区域判定车辆前方道路存在窄路时，根据所述障碍物信息和所述可行驶区域进行轨迹规划形成行驶轨迹，并控制车辆按照所述行驶轨迹通过窄路，所述窄路为车辆的可通行区域小于车辆当前所处道路的可通行区域的道路；a narrow road auxiliary module, for, when it is determined according to the obstacle information and the drivable area that there is a narrow road ahead of the vehicle, performing trajectory planning according to the obstacle information and the drivable area to form a driving trajectory, and controlling the vehicle to pass through the narrow road according to the driving trajectory, wherein the narrow road is a road where the drivable area of the vehicle is smaller than the drivable area of the road where the vehicle is currently located;

    人机交互模块，用于在根据所述障碍物信息和所述可行驶区域无法判断车辆前方道路是否存在窄路时，响应于窄路辅助功能的激活操作，获取用户输入的指定信息；a human-computer interaction module, configured to obtain specified information input by a user in response to an activation operation of a narrow road assistance function when it is impossible to determine whether there is a narrow road in front of the vehicle according to the obstacle information and the drivable area;

    所述窄路辅助模块，还用于根据用户输入的指定信息控制车辆通过窄路。The narrow road auxiliary module is also used to control the vehicle to pass through the narrow road according to the specified information input by the user.
12. 一种车辆，其特征在于，包括：A vehicle, characterized by comprising:

    存储器；Memory;

    一个或多个处理器；one or more processors;

    一个或多个应用程序，所述一个或多个应用程序存储在所述存储器中，用于当被所述一个或多个处理器调用时使得所述一个或多个处理器执行如权利要求1至10任一项所述的方法。One or more application programs, the one or more application programs are stored in the memory and are used to enable the one or more processors to execute the method according to any one of claims 1 to 10 when called by the one or more processors.
13. 一种计算机可读取存储介质，其特征在于，所述计算机可读取存储介质上存储有程序代码，所述程序代码用于当被处理器调用时使得所述处理器执行如权利要求1至10任一项所述的方法。 A computer-readable storage medium, characterized in that program code is stored on the computer-readable storage medium, and the program code is used to enable the processor to execute the method according to any one of claims 1 to 10 when called by a processor.