WO2024032148A1 - 一种窄道通行的方法、装置和车辆 - Google Patents

一种窄道通行的方法、装置和车辆 Download PDF

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Publication number
WO2024032148A1
WO2024032148A1 PCT/CN2023/100497 CN2023100497W WO2024032148A1 WO 2024032148 A1 WO2024032148 A1 WO 2024032148A1 CN 2023100497 W CN2023100497 W CN 2023100497W WO 2024032148 A1 WO2024032148 A1 WO 2024032148A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
narrow
automatically
user
environmental information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/100497
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English (en)
French (fr)
Inventor
王君霞
胡文潇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP23851375.8A priority Critical patent/EP4559772A4/en
Publication of WO2024032148A1 publication Critical patent/WO2024032148A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data

Definitions

  • the embodiments of the present application relate to the field of intelligent driving, and more specifically, to a method, device and vehicle for narrow passage.
  • the narrow road assist function that users can use generally activates the front view and 360° top view of the vehicle.
  • Such narrow road auxiliary functions focus more on the early warning level, which is far from enough for users. For example, when a user drives a vehicle through a narrow road, he still does not know how to turn the steering wheel to avoid collision with obstacles (for example, road edges). Therefore, how to improve the user's driving experience when driving a vehicle through a narrow road has become an urgent problem to be solved.
  • Embodiments of the present application provide a method, device, and vehicle for narrow passages, which help improve the user's driving experience when vehicles pass through narrow passages.
  • the vehicle in this application can be a vehicle in a broad sense, and can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), Engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • the embodiments of this application do not specifically limit the types of vehicles.
  • a method for passing in a narrow lane includes: when a vehicle enters a first narrow lane, obtaining environmental information of the first narrow lane; and controlling the vehicle to pass in the first narrow lane according to the environmental information. Autonomous driving on part or all of the narrow road.
  • the environmental information of the narrow road can be obtained when the vehicle passes through the narrow road, so that the vehicle can control the vehicle to automatically drive on part or all of the narrow road section based on the environmental information.
  • the vehicle can automatically pass through part or all of the narrow road, without the need for the user to manually drive the vehicle through the narrow road, which helps to improve the intelligence of the vehicle and also helps to improve the vehicle's ability to pass through the narrow road. user’s driving experience.
  • the method further includes: determining that the vehicle enters the first narrow lane when the difference between the width of the road where the vehicle is located and the width of the vehicle is less than or equal to a preset threshold.
  • the method before controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environment information, the method further includes: before the vehicle once again When driving into the first narrow lane, the user is prompted to automatically pass through the first narrow lane; wherein, based on the environmental information, the vehicle is controlled to automatically drive in part or all of the first narrow lane, including: when the user is detected When the operation of automatically passing through the first narrow lane is instructed, the vehicle is controlled to automatically pass through all sections of the first narrow lane according to the environmental information.
  • the user when the vehicle enters the first narrow lane again, the user can be prompted to automatically pass through the narrow lane.
  • the vehicle can be controlled to automatically pass through the entire section of the first narrow lane based on the previously acquired environmental information of the narrow lane. In this way, the user does not need to manually drive the vehicle through the narrow road, which helps to improve the intelligence of the vehicle and also helps to improve the user's driving experience when the vehicle passes through the narrow road.
  • the prompting the user to automatically pass the first narrow lane includes prompting the user to automatically pass the first narrow lane and displaying the driving from the starting point of the first narrow lane to the end point of the first narrow lane. trajectory.
  • controlling the vehicle to automatically pass through all sections of the first narrow road based on the environmental information includes: controlling the vehicle to automatically drive from the starting point of the first narrow road to the end of the first narrow road according to the driving trajectory.
  • the environmental information includes the location of the first meeting point, which is determined according to the first meeting point.
  • the method before controlling the vehicle to automatically drive on part or all of the first narrow road section, the method also includes: detecting that the vehicle and another vehicle are meeting at the first position of the first narrow road; When a location cannot meet the meeting conditions, the user is prompted to automatically drive from the current position of the vehicle to the location of the first meeting point; wherein, based on the environmental information, the vehicle is controlled on part or all of the first narrow road section
  • Automatic driving includes: when detecting the user's instruction to automatically drive from the current location to the first meeting point, controlling the vehicle to automatically drive from the current position to the first meeting point based on the environmental information. Location.
  • the vehicle when the first location is not sufficient for the vehicle to meet another vehicle, the vehicle can prompt the user to automatically drive from the current location to the first meeting point based on the location information of the first meeting point saved in the environmental information. point location. In this way, there is no need for the user to manually drive the vehicle from the current location to the first meeting point, and there is no need for the user to actively remember the location of the first meeting point. This helps to improve the intelligence of the vehicle and improves the vehicle's ability to pass through narrow streets. Driving experience of road users.
  • prompting the user to automatically drive from the current location to the location of the first meeting point includes prompting the user to automatically drive from the current location to the location of the first meeting point and controlling the vehicle display screen to display the location from the current location to the first meeting point.
  • controlling the vehicle to automatically drive from the current position to the first meeting point according to the environmental information includes: controlling the vehicle to automatically drive from the current position to the first meeting point according to the driving trajectory.
  • the first meeting point is a meeting point that allows the vehicle and the other vehicle to pass through at the same time.
  • the method before controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environment information, the method further includes: before the vehicle travels to When the user's reversing operation is detected at the second position of the first narrow lane, the user is prompted to automatically reverse from the second position to the third position; wherein, based on the environmental information, the vehicle is controlled on the first narrow lane.
  • Automatic driving on part or all of the road section includes: when detecting a user instruction to automatically reverse from the second position to the third position, controlling the vehicle to automatically reverse from the second position to the third position according to the environmental information.
  • the vehicle when the vehicle detects the user's reversing operation at the second position, it can prompt the user to automatically reverse the vehicle from the second position to the third position.
  • the vehicle can be controlled to automatically reverse from the second position to the third position according to the environment information. In this way, the user does not need to manually drive the vehicle to reverse from the second position to the third position, which helps to improve the intelligence of the vehicle and also helps to improve the user's driving experience when reversing in a narrow road.
  • the vehicle can plan a driving trajectory that automatically reverses from the vehicle's current position to the starting point of the narrow road and prompts the user to use the driving trajectory to automatically reverse to the starting point of the narrow road. In this way, the safety risks that may occur when the user manually drives the vehicle to reverse on the narrow road can be avoided, which helps to improve the user's driving experience when the vehicle passes through the narrow road.
  • prompting the user to automatically reverse from the second position to the third position includes: prompting the user to automatically reverse from the second position to the third position and controlling the vehicle display screen to display the automatic reversing from the second position. Reverse to the driving track of this third position.
  • controlling the vehicle to automatically reverse from the second position to the third position according to the environmental information includes: controlling the vehicle to automatically reverse from the second position to the third position according to the driving trajectory.
  • the third position is the starting point of the narrow road or the third position is the position of the second meeting point, and the environmental information includes the second meeting point. The location of the bus stop.
  • the method before obtaining the environmental information of the first narrow channel, the method further includes: determining that the first narrow channel is a fixed narrow channel.
  • the first narrow lane before acquiring the environmental information of the first narrow lane, it may be determined that the first narrow lane is a fixed narrow lane. This can avoid a waste of computing resources caused by temporary narrow lane memory.
  • determining that the first narrow lane is a fixed narrow lane includes: determining that the first narrow lane is not a temporary narrow lane.
  • the current road can be determined For fixed narrow roads.
  • the fixed narrow lane does not include narrow lanes temporarily formed due to situations such as passing vehicles or avoiding other vehicles during normal road driving.
  • the method further includes: displaying blind spot images of the left front and right front of the vehicle while the vehicle is moving forward through the first narrow lane; Or, when the vehicle is reversing through the first narrow lane, blind spot images of the left rear and right rear of the vehicle are displayed.
  • the vehicle when the vehicle is moving forward or reversing through the first narrow lane, it can display blind spot images on both sides, which is convenient
  • the user can view the environment on both sides of the vehicle in a timely manner to help the user manually drive the vehicle through the first narrow lane; or, when the vehicle automatically passes through the first narrow lane, it is convenient for the user to promptly understand the safety of the vehicle during autonomous driving.
  • a device for narrow passage includes: an acquisition unit, configured to acquire environmental information of the first narrow passage when the vehicle enters the first narrow passage; and a control unit, configured to obtain the environmental information of the first narrow passage according to the Environmental information is used to control the vehicle to drive automatically on part or all of the first narrow road.
  • the device further includes a first prompting unit and a first detection unit, the first prompting unit being used to drive the vehicle into the first narrow road again.
  • the control unit is configured to: when the first detection unit detects the user's instruction to automatically pass the first narrow lane, control the vehicle to automatically pass according to the environmental information. Pass the entire section of the first narrow road.
  • the environmental information includes the location of the first meeting point
  • the device further includes a second prompt unit and a second detection unit
  • the second detection unit is used to When it is detected that the vehicle and another vehicle are meeting at the first position of the first narrow lane
  • the second prompt unit is used to prompt the user to automatically start from the current position of the vehicle when the first position cannot meet the meeting conditions.
  • the control unit is configured to: when the second detection unit detects the user's instruction to automatically drive from the current position to the first meeting point, according to The environmental information controls the vehicle to automatically drive from the current location to the first meeting point.
  • the device further includes a third prompt unit and a third detection unit, the third prompt unit is used to drive the vehicle to the first narrow road at the third two positions and the third detection unit detects the user's reversing operation, prompts the user to automatically reverse from the second position to the third position; wherein, the control unit is used to: when the third detection unit detects the user's instruction to reverse from During the operation of automatically reversing from the second position to the third position, the vehicle is controlled to automatically reverse from the second position to the third position according to the environmental information.
  • the third position is the starting point of the narrow road or the third position is the position of the second meeting point, and the environmental information includes the second meeting point.
  • the location of the bus stop is the first position of the narrow road or the third position is the position of the second meeting point.
  • the device further includes a determining unit, and the method further includes: the determining unit, configured to determine before the obtaining unit obtains the environmental information of the first narrow channel.
  • the first narrow channel is a fixed narrow channel.
  • control unit is also configured to: control the vehicle-mounted display screen to display the front and left side of the vehicle while the vehicle is moving forward through the first narrow road.
  • a device in a third aspect, includes a processing unit and a storage unit, where the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device performs any of the possibilities in the first aspect.
  • the above-mentioned processing unit may include at least one processor, and the above-mentioned storage unit may be a memory, where the memory may be a storage unit within the chip (for example, a register, cache, etc.), or it may be a storage unit outside the chip in the vehicle. (For example, read-only memory, random access memory, etc.).
  • a fourth aspect provides a vehicle, which includes the device described in any one of the above second or third aspects.
  • a computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform any of the possible methods in the first aspect.
  • the above computer program code can be stored in whole or in part on the first storage medium, where the first storage medium can be packaged together with the processor, or can be packaged separately from the processor. This is not the case in the embodiments of this application. Specific limitations.
  • a computer-readable medium stores program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform any of the possible methods in the first aspect. .
  • inventions of the present application provide a chip system.
  • the chip system includes a processor for calling a computer program or computer instructions stored in a memory, so that the processor executes any of the possibilities in the first aspect. Methods.
  • the processor is coupled with the memory through an interface.
  • the chip system further includes a memory, and a computer program or computer instructions are stored in the memory.
  • Figure 1 is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of the distribution of display screens in an exemplary vehicle cabin provided by an embodiment of the present application.
  • Figure 3 is a graphical user interface GUI provided by an embodiment of the present application.
  • Figure 4 is another GUI provided by an embodiment of the present application.
  • Figure 5 is another set of GUI provided by the embodiment of the present application.
  • Figure 6 is a schematic diagram of an intelligent narrow road assistance system provided by an embodiment of the present application.
  • FIG. 7 is a schematic flow chart of the narrow channel passage method provided by the embodiment of the present application.
  • Figure 8 is another GUI provided by an embodiment of the present application.
  • FIG. 9 is another schematic flow chart of the narrow channel passage method provided by the embodiment of the present application.
  • Figure 10 is another schematic flowchart of the narrow channel passage method provided by the embodiment of the present application.
  • Figure 11 is a schematic block diagram of a device for narrow channel passage provided by an embodiment of the present application.
  • Prefixes such as “first” and “second” are used in the embodiments of this application only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects.
  • the use of ordinal words and other prefixes used to distinguish the described objects does not limit the described objects.
  • Words constitute redundant restrictions.
  • plural means two or more.
  • FIG. 1 is a functional block diagram of a vehicle 100 provided by an embodiment of the present application.
  • Vehicle 100 may include a perception system 120 , a display device 130 , and a computing platform 150 , where perception system 120 may include one or more sensors that sense information about the environment surrounding vehicle 100 .
  • the sensing system 120 may include a positioning system.
  • the positioning system may be a global positioning system (GPS), a Beidou system or other positioning systems, an inertial measurement unit (IMU), a lidar, a millimeter One or more of wave radar, ultrasonic radar and camera device.
  • GPS global positioning system
  • IMU inertial measurement unit
  • lidar a millimeter One or more of wave radar, ultrasonic radar and camera device.
  • the computing platform 150 may include one or more processors, such as processors 151 to 15n (n is a positive integer).
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instructions. Circuits with read and run capabilities, such as central processing unit (CPU), microprocessor, graphics processing unit (GPU) (can be understood as a microprocessor), or digital signal processor (digital signal processor, DSP), etc.; in another implementation, the processor can achieve certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is a dedicated integrated Hardware circuits implemented by application-specific integrated circuit (ASIC) or programmable logic device (PLD), such as field programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable gate array
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing Unit (deep learning processing unit, DPU), etc.
  • the computing platform 150 may also include a memory, which is used to store instructions. Some or all of the processors 151 to 15n may call instructions in the memory and execute the instructions to implement corresponding functions.
  • the display device 130 in the cockpit is mainly divided into two categories.
  • the first category is a vehicle-mounted display screen;
  • the second category is a projection display screen, such as a head up display (HUD).
  • the vehicle display screen is a physical display screen and an important part of the vehicle infotainment system.
  • There can be multiple displays in the cockpit such as digital instrument display, central control screen, passenger in the co-pilot seat (also known as The display in front of the front passenger), the display in front of the left rear passenger, the display in front of the right rear passenger, and even the car window can be used as a display.
  • Head-up display also known as head-up display system. It is mainly used to display driving information such as speed and navigation on the display device in front of the driver (such as the windshield).
  • HUD includes, for example, combined head-up display (combiner-HUD, C-HUD) System, windshield-HUD (W-HUD) system, augmented reality HUD (AR-HUD) system. It should be understood that HUD may also include other types of systems as technology evolves, and this application does not limit this.
  • FIG. 2 shows a schematic diagram of the distribution of display screens in an exemplary vehicle cabin provided by an embodiment of the present application.
  • the vehicle's cockpit may include a display screen 201 (or, it can also be called a central control screen), a display screen 202 (or, it can also be called a passenger entertainment screen), a display screen 203 (or, it can also be called It is called the entertainment screen in the left area of the second row), the display screen 204 (or it can also be called the entertainment screen in the right area of the second row) and the instrument screen.
  • GUI graphical user interface
  • the cockpit can include a central control screen, a passenger entertainment screen, an entertainment screen in the left area of the second row, an entertainment screen in the right area of the second row, and an entertainment screen in the third row.
  • the cockpit may include a front row entertainment screen and a rear row entertainment screen; or, the cockpit may include a display screen in the driving area and an entertainment screen in the passenger area.
  • the entertainment screen in the passenger area can also be placed on the top of the cabin.
  • Figure 3 shows a graphical user interface (graphical user interface, GUI) provided by an embodiment of the present application.
  • GUI graphical user interface
  • the vehicle when it detects that it is about to pass through a narrow road, it can display a 360° top view and the actual driving trajectory corresponding to the current steering wheel deflection angle through the display area 301 in the display screen 201 (for example, the display area 301 shown in area 301 solid line) and the driving trajectory recommended for the user (e.g., the dashed line shown in area 301).
  • the display area 302 may display the front view image, the actual driving trajectory corresponding to the current steering wheel deflection angle (for example, the solid line shown in the area 302), and the driving trajectory recommended for the user (for example, the dotted line shown in the area 302).
  • the driver can choose to control the steering wheel according to the recommended driving trajectory shown by the dotted line, which can assist the driver to avoid obstacles and successfully pass through narrow roads.
  • the display area 303 and the display area 304 may respectively display a blind spot image on the left side of the vehicle and a blind spot image on the right side of the vehicle.
  • the driver when the driver sees the recommended driving trajectory, he can control the steering wheel according to the driving trajectory.
  • one of voice prompts, ambient light color changes, or vehicle display text prompts can be used. Or multiple prompts are provided to the driver, so that the driver knows that the degree of coincidence between the actual driving trajectory of the vehicle and the recommended driving trajectory is greater than or equal to the preset coincidence degree.
  • the width difference between the width of the road and the width of the vehicle is less than or equal to a preset threshold (eg, 60 cm)
  • a preset threshold eg, 60 cm
  • the display screen 201 displays the blind spot image on the left side of the vehicle and the blind spot image on the right side of the vehicle, allowing the driver to promptly Perceived risk of collision.
  • prompt information may be displayed in the display area 303 to remind the user that there is a risk of collision.
  • the vehicle may display a red flashing prompt in display area 303 and activate the automatic emergency braking function.
  • the vehicle can sense the environment around the vehicle in real time and assist the driver in driving the vehicle through the narrow road.
  • the driver can be provided with a top view, a front view, a blind spot view on the left front of the vehicle, and a blind spot view on the right front of the vehicle, and can display the recommended driving trajectory to better assist the driver in driving the vehicle through the narrow road. narrow passage.
  • the vehicle can actively learn and memorize the narrow lane when passing through the narrow lane for the first time. For example, when the vehicle passes through the narrow passage for the first time, the image can be composed based on the data collected by the sensor.
  • FIG. 4 shows another set of GUIs provided by the embodiment of the present application.
  • the vehicle when the vehicle passes through the narrow lane, it is detected that the driver adjusts the gear from D to R. At this time, the vehicle can be based on the previous process of the driver driving the vehicle through the narrow lane.
  • the memory of the environmental information of the narrow road is used to plan the reversing trajectory for the driver.
  • the starting point of the reversing trajectory can be the position where the driver issues the reversing instruction (for example, the driver adjusts the gear information to R gear).
  • the end point can be the starting point of the narrow road or the location of a certain meeting point.
  • the prompt box 401 can be displayed through the display screen 201, wherein the prompt box 401 includes the prompt information "The reversing trajectory has been planned for you. After clicking OK, the vehicle will automatically reverse along the reversing trajectory to the starting point of the narrow road", the confirmation control 402 and Cancel control 403. When it is detected that the user clicks on the confirmation control 402, the vehicle can automatically back up along the backing track to the starting point of the narrow road.
  • the display area 301 in the display screen 201 can display a 360° top view and the reversing trajectory planned for the driver ( For example, the dashed line shown in area 301) and the end point of the reverse trajectory.
  • the display area 302 may display the rear view image of the vehicle and the reversing trajectory planned for the driver (for example, area 302).
  • the display area 303 and the display area 304 may respectively display a blind spot image of the right rear side of the vehicle and a blind spot image of the left rear side of the vehicle.
  • the vehicle can learn and actively memorize the environment around the narrow road when passing through the narrow road for the first time. If reversing is required while passing through a narrow road, the reversing trajectory can be planned for the user based on the results of previous machine learning and real-time environment perception, and the driver can be provided with the function of automatically reversing to the starting point of the narrow road or other locations, thus making it possible to reverse the vehicle while driving.
  • the process of reversing in narrow roads is more intelligent and humane, effectively helping users solve the problem of difficulty in reversing on narrow roads, and improving the user's driving experience.
  • FIG. 5 shows another set of GUIs provided by the embodiment of the present application.
  • the display box 501 can display the starting point of the narrow road, the information of the narrow road that has been learned and actively memorized, and the available information. The starting point and the end of the narrow lane.
  • the vehicle can also automatically plan a trajectory route through the narrow road based on its previous learning of the narrow road environment. When the driver's operation of clicking the control 502 is detected, the vehicle can automatically pass through the narrow road according to the trajectory route.
  • the display area 302 may display the front view image, the actual driving trajectory corresponding to the current steering wheel deflection angle (for example, the solid line shown in the area 302 ), and the trajectory route planned for the driver through the narrow road (for example, the area 302 dashed line shown in ).
  • the display area 303 and the display area 304 may respectively display a blind spot image on the left side of the vehicle and a blind spot image on the right side of the vehicle.
  • the prompt message "passing through the narrow lane according to the trajectory route planned for you" can be displayed through the display area 301.
  • the vehicle when detecting that the user clicks on a control to exit the narrow road assist function, the vehicle may prompt the driver to take over the steering wheel. Drivers can continue to drive their vehicles through the narrow lane.
  • the vehicle detects that there is another vehicle in the opposite direction, and the vehicle and the other vehicle cannot complete the meeting at the expected meeting point (for example, the vehicle and the other vehicle cannot complete the meeting at the expected meeting point). passing side by side), the vehicle can determine whether there is an available meeting point between the vehicle's current position and the expected meeting point based on the previous learning of the narrow road environment, where, at the available meeting point, the vehicle can realize the meeting point Yield to another vehicle.
  • the user can be prompted to automatically drive from the current location to the available meeting point.
  • the vehicle will automatically drive from the current location to the available meeting point.
  • the vehicle may prompt the user to continue driving automatically from the available meeting point to the end of the narrow road.
  • the vehicle can continue to automatically drive from the available meeting point to the end point of the narrow lane.
  • the vehicle when the vehicle and the other vehicle are unable to complete the meeting at the expected meeting point and there is no available meeting point between the vehicle's current position and the expected meeting point, the vehicle can be configured based on the previous meeting point. Learning of the road environment determines whether there is an available meeting point between the starting point of the narrow road and the current position of the vehicle. When there is an available meeting point between the starting point of the narrow road and the current position of the vehicle, the user can be prompted to reverse to the available meeting point; at the same time, the vehicle can plan the reversing trajectory from the vehicle's current position to the available meeting point, thus The user can be prompted that the vehicle can automatically reverse to the available meeting point according to the reversing trajectory.
  • the display 201 can be used to prompt the message "The reversing trajectory has been planned for you. After clicking OK, the vehicle will automatically reverse along the reversing trajectory to the available meeting point" and the confirmation control. When it is detected that the user clicks on the confirmation control, the vehicle can be controlled to automatically reverse along the reversing track to an available meeting point.
  • FIG. 6 shows a schematic diagram of an intelligent narrow road assistance system 600 provided by an embodiment of the present application.
  • the system 600 includes a perception module 610, a control module 620, a machine learning module 630 and a display module 640.
  • the perception module 610 is used to perceive the environment in which the vehicle is located when it passes through the narrow road A for the first time. Perceive the type of current road, the location of obstacles and the distance between the vehicle and the obstacles, the direction of the vehicle's forward motion, and the speed of the vehicle's travel.
  • the control module 620 can control the vehicle to perform anti-collision automatic emergency braking, obstacle monitoring and early warning, and narrow lane driving trajectory guidance based on the data obtained by the sensing module 610 when the vehicle passes through the narrow lane A for the first time. For example, as shown in FIG. 3 , when a vehicle passes through a narrow road for the first time, a recommended driving trajectory can be planned for the user based on the environmental information within the sensing range of the sensing module 610 .
  • the machine learning module 630 can obtain the data sensed by the sensing module 630, the location information of the narrow road, and the driver's driving behavior when the vehicle passes through the narrow road A for the first time, so as to construct the environment model of the local narrow road and learn from the vehicle. Planning of the reversing trajectory when reversing from the current position to another position.
  • the machine learning module 630 can obtain the data sensed by the sensing module 630, the location information of the narrow lane, and the driver's driving behavior when the vehicle passes through the narrow lane A for the first time and has traveled from the starting point to the end point of the narrow lane A to realize the entire vehicle.
  • the perception module 610 may include a camera device, a global positioning system, an inertial measurement unit, and a wheel odometer.
  • the camera device may include a front-view camera, a rear-view camera, and two side-view cameras (respectively located on the left side of the vehicle). side and right), these 4 cameras can also be configured with fisheye lenses.
  • the front-view camera, the rear-view camera, the camera on the left side of the vehicle and the camera on the right side of the vehicle can respectively output the image information in front of the vehicle, the image information behind the vehicle, the image information on the left side of the vehicle and the image on the right side of the vehicle to the composition module information.
  • the machine learning module 630 can synthesize image information from four cameras into one IPM image through inverse perspective mapping (IPM).
  • the machine learning module 630 can also perform feature extraction on the IPM image.
  • the machine learning module can input IPM images into the U-shaped (UNET) network for feature extraction.
  • the U-shaped network can output a semantic feature for each pixel in the IPM image.
  • the semantic features include but are not limited to road edges, stone piers, lanes, pavement signs, speed bumps, walls, obstacles, etc.
  • feature extraction can also be performed through data collected by lidar, millimeter wave radar, and ultrasonic radar.
  • the machine learning module 630 may begin to compose the image.
  • the machine learning module 630 can determine the position in the vehicle coordinate system constructed by the vehicle through the IMU and the wheel speed odometer.
  • the position in the vehicle coordinate system can be the current position of the vehicle relative to the position where the vehicle just entered the narrow lane (for example, the vehicle The position just entering the narrow lane can be the origin of the vehicle coordinate system).
  • the machine learning module 630 may also determine the absolute position of the vehicle in the world coordinate system through the global positioning system. Through the global positioning system, IMU and wheel speed odometer, the vehicle can build a positioning layer.
  • the machine learning module 630 can construct an environment model of narrow channel A.
  • the machine learning module 630 can calculate the driving trajectory from the starting point to the end point of the narrow lane A and the reversing trajectory when reversing from a certain position on the narrow lane A based on the environment model of the narrow lane A.
  • the machine learning module 630 can plan the local driving trajectory of narrow lane A (for example, from the starting point of narrow lane A to the current location of the vehicle) based on the data acquired within the sensing range of the sensing module 610 .
  • the machine learning module 630 can plan from the starting point of narrow lane A to the destination according to the environmental model of narrow lane A. Driving trajectory to the end point.
  • the display module 640 can display the local driving trajectory of narrow lane A, the actual driving trajectory of the own vehicle, the location of obstacles, the distance between the vehicle and obstacles, blind spot images, and collision avoidance warning when the vehicle passes through narrow lane A for the first time. one or more.
  • the sensing module 610 is also used to sense the environment in which the vehicle is located, the location of obstacles, and the distance between the vehicle and the obstacles when the vehicle passes through the narrow road A again.
  • the sensing module 610 may send the sensed data to the machine learning module 630.
  • the machine learning module 630 can update the environment model of narrow channel A according to the data sent by the sensing module 610.
  • obstacle 1 for example, a stone pier on the roadside
  • the machine learning module 630 determines that obstacle 1 is located at position 2 of the narrow passage according to the data sent by the sensing module 610. Then the machine learning module 630 can update the position of obstacle 1 from position 1 to position 2 in the environment model of narrow passage A. .
  • the machine learning module 630 when the vehicle passes through narrow lane A for the first time, there is no obstacle 2 at position 3 of narrow lane A in the environment model constructed by the machine learning module 630; when the vehicle passes through narrow lane A again, the machine learning module 630 sends a message according to the perception module 610 The data determines that obstacle 2 appears at position 3 of the narrow passage, then the machine learning module 630 can add obstacle 2 at position 3 in the environment model of narrow passage A.
  • the machine learning module 630 may also update the driving trajectory and reversing trajectory from the starting point to the end point of the narrow passage A after completing the update of the environment model of the narrow passage A.
  • the machine learning module 630 can also plan the driving trajectory from the starting point to the end point of the narrow road A based on the driver's driving habits. For example, when the user manually drives the vehicle through narrow road A and the machine learning module 630 determines that the user is accustomed to driving the vehicle close to the curb on the left side of the vehicle, then the distance between the left tire of the vehicle and the curb on the left side of the vehicle in the planned driving trajectory can be is less than the distance between the tire on the right side of the vehicle and the curb on the right side of the vehicle.
  • the machine learning module 630 is also used to send the driving trajectory from the starting point to the end point of the narrow road A to the display module 640 when the vehicle passes through the narrow road A again, so that the display module 640 can display the driving path from the starting point to the end point of the narrow road A. trajectory. For example, as shown in (c) of FIG. 5 , the driving trajectory from the starting point to the end point of the narrow road can be displayed on the display screen 201 .
  • the control module 620 is also configured to control the vehicle to automatically pass through the narrow lane A according to the driving trajectory from the starting point to the end point of the narrow lane A when detecting the user's operation of selecting the vehicle to automatically pass through the narrow lane A.
  • the control module 620 can control the vehicle's driving direction and speed and avoid obstacles based on the driving trajectory from the starting point to the end of the narrow passage A and the information about the obstacles.
  • the display module 640 is also used to display one or more of the driving trajectory from the starting point to the end point of the narrow lane A, the position of the obstacle, the distance between the obstacle and the vehicle, and the blind spot image when the vehicle passes through the narrow lane A again. .
  • each module of the intelligent narrow lane assist system 600 when the vehicle passes through the narrow lane A for the first time and when the vehicle passes through the narrow lane A again.
  • the intelligent narrow lane assistance system 600 can provide the user with one of the narrow lane trajectory guidance, narrow lane blind spot images, obstacle monitoring and warning, and anti-collision automatic emergency braking functions. Or more than one.
  • the intelligent narrow lane assistance system 600 can provide the user with automatic reversing trajectory planning, narrow lane reversing blind spot images, automatic obstacle avoidance, and active cross-traffic monitoring and avoidance functions. one or more.
  • the intelligent narrow road assistance system 600 can provide the user with one or more of the following functions: automatic forward trajectory planning, blind spot images for the narrow road ahead, automatic obstacle avoidance, and active cross-traffic monitoring and avoidance. indivual.
  • the method includes:
  • the vehicle can obtain the location information of the vehicle in real time. Through the location information of the vehicle and the type of road, it can be determined whether it is passing through the narrow road for the first time.
  • the vehicle can provide the user with a control to turn on or off the narrow road assist function.
  • the control for turning on or off the narrow road assist function may be located in a drop-down menu, or the control for turning on or off the narrow road assist function may be in the function settings of the vehicle.
  • the user can choose to turn on the narrow road assist function in the assisted driving in the settings.
  • the description of the narrow road assist function is "when the vehicle passes through the narrow road for the first time, it learns and remembers the environment of the narrow road; when the vehicle passes through the narrow road again, it provides you with an automatic narrow road passage track.”
  • the vehicle when the vehicle turns on the narrow road assist function, the vehicle can sense the environment of the narrow road based on the data collected by the sensor, thereby displaying the recommended driving trajectory.
  • a recommended driving trajectory can be planned for the user based on data within the sensing range of the sensor. For example, recommend a driving trajectory within a certain distance (for example, 3 meters) to the user.
  • the text message "It has been detected that you are driving the vehicle through a narrow road, do you want to activate the narrow road assist function" can be displayed on the display screen 201 or the instrument screen. After the narrow road assist function is turned on, the vehicle will perform various tasks on the narrow road environment. Learning and Memory”.
  • the user when it is detected that the user needs to control the vehicle to reverse, the user can be prompted with the planned reversing trajectory and prompted to automatically reverse to a certain location (for example, the starting point of a narrow road or the location of an available meeting point). For example, when a user's instruction to automatically reverse from the current location to the starting point of a narrow road is detected, the vehicle can automatically control the vehicle to reverse according to the reversing trajectory.
  • a certain location for example, the starting point of a narrow road or the location of an available meeting point.
  • the vehicle when the user drives a vehicle through a narrow road for the first time, the vehicle can learn and remember the environment of part of the narrow road that it has recently passed, thereby obtaining a partial environment model of the narrow road.
  • the reversing trajectory can be planned based on the partial environment model of the narrow road.
  • the vehicle can automatically control the vehicle to reverse based on the reversing trajectory.
  • the relevant information includes the driver's driving data and the environment information of the narrow road.
  • the driver's driving data information includes speed information when passing through the narrow road, the driver's driving habits (for example, driving Members are accustomed to vehicles staying closer to the left edge of the road), etc.
  • the environmental information includes but is not limited to the location information of the narrow road, the location and type of obstacles, the distance between the vehicle and the obstacles, and other information.
  • the current road can be determined For fixed narrow roads.
  • the fixed narrow lane does not include narrow lanes temporarily formed due to situations such as passing vehicles or avoiding other vehicles during normal road driving.
  • the method further includes: based on the environment model of the narrow channel,
  • Figure 9 shows a schematic flowchart of a narrow channel passage method 900 provided by an embodiment of the present application. As shown in Figure 9, the method 900 includes:
  • the vehicle can obtain the location information of the vehicle in real time. Through the location information of the vehicle, it can be determined whether to pass through the narrow road again.
  • the vehicle can display the prompt message "You have a narrow road ahead traffic record, click to open it and the vehicle will automatically drive to the end of the narrow road according to the planned trajectory" through the display screen 201.
  • the driving trajectory from the starting point to the end point of the narrow road is displayed in the display frame 501 .
  • the vehicle can be controlled to automatically drive to the end of the narrow road.
  • the user when the vehicle does not turn on the narrow lane assist function, the user can be prompted to save the environment model of the narrow lane and the driving trajectory from the starting point to the end of the narrow lane in the vehicle, and the user can be prompted to turn on the narrow lane assist function.
  • S905 determine whether the user needs to control the vehicle to reverse during automatic driving to the end of the narrow road.
  • the user when it is detected that the user needs to control the vehicle to reverse, the user can be prompted with the planned reversing trajectory and prompted to automatically reverse to a certain location (for example, the starting point of a narrow road or the location of an available meeting point). For example, when a user's instruction to automatically reverse from the current location to the starting point of a narrow road is detected, the vehicle can automatically control the vehicle to reverse according to the reversing trajectory.
  • a certain location for example, the starting point of a narrow road or the location of an available meeting point.
  • S908 Update the environment model in S709 based on the relevant information in S907.
  • the environment model in S709 can be updated according to the relevant information in S907, and the driving trajectory from the starting point to the end point of the narrow lane A or the driving trajectory when reversing from a certain position in the narrow lane can be re-planned based on the updated environment model. Reverse trajectory.
  • a driving trajectory that automatically passes through the narrow road is recommended to the user.
  • the user does not need to manually drive the vehicle through the narrow road, which helps to improve the intelligence of the vehicle and also helps to improve the user's driving experience when the vehicle passes through the narrow road.
  • FIG. 10 shows a schematic flowchart of a narrow channel passage method 1000 provided by an embodiment of the present application.
  • the method 1000 may be executed by a vehicle, or the method 1000 may be executed by the above-mentioned computing platform, or the method 1000 may be executed by a display system composed of a computing platform and a display device (for example, a vehicle-mounted display screen), or the method 1000
  • the method 1000 may be executed by a system-on-a-chip (SOC) in the above computing platform, or the method 1000 may be executed by a processor in the computing platform.
  • SOC system-on-a-chip
  • the method 1000 includes:
  • the method further includes: determining that the vehicle enters the first narrow lane when the difference between the width of the road where the vehicle is located and the width of the vehicle is less than or equal to a preset threshold.
  • the preset threshold is 60 cm.
  • the vehicle determines to enter road section 1 at time T 1 , and the difference between the width of road section 1 and the width of the vehicle is less than or equal to the preset threshold.
  • the difference between the width of the road section 2 and the width of the vehicle is greater than the preset threshold.
  • the vehicle leaves the road section 2 and enters the road section 3.
  • the difference between the width of the road section 3 and the width of the vehicle is less than or equal to the preset threshold.
  • the road section consisting of road section 1, road section 2 and road section 3 can be memorized as a narrow road.
  • road section 1 can be used as a narrow road and road section 3 can be memorized as another narrow road.
  • the environmental information of the first narrow lane can be obtained through the first data collected by the sensor.
  • the environmental information of the first narrow lane can be updated through the second data collected by the sensor.
  • the environmental information of the first narrow lane may include the environment model of narrow lane A.
  • the method further includes: when the vehicle travels from the starting point to the end point of the first narrow lane, the environmental information of the entire first narrow lane can be obtained. At this time, a driving trajectory for automatically driving from the starting point of the first narrow lane to the end of the first narrow lane can be planned based on the environmental information of the entire first narrow lane. Alternatively, when the vehicle travels from the starting point of the first narrow lane to a certain location, it can obtain part of the environmental information of the first narrow lane. At this time, it can plan to automatically reverse from the current position to a certain location based on part of the environmental information of the first narrow lane. location (for example, the starting point of the first narrow road).
  • S1002 Control the vehicle to automatically drive on part or all of the first narrow road section based on the environmental information.
  • automatically driving on the entire section of the first narrow lane may include automatically driving from the starting point of the first narrow lane to the end of the first narrow lane, or automatically reversing from the end of the first narrow lane to the end of the first narrow lane. starting point.
  • the vehicle automatically travels from the position B to the position C of the first narrow road, where the position B may be where the vehicle is currently located.
  • position C can be the position of the available meeting point in the first narrow lane; or position B can be the current position of the vehicle, and position C can be the starting point of the first narrow lane; or position B can be the starting point of the first narrow lane.
  • the end point of a narrow lane, position C may be the location of the available meeting point in the first narrow lane.
  • the method before controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environmental information, the method further includes: prompting the user to automatically drive when the vehicle enters the first narrow road again. Passing the first narrow lane; wherein, controlling the vehicle to automatically drive in part or all of the first narrow lane according to the environmental information includes: when detecting a user instruction to automatically pass the first narrow lane, The vehicle is controlled to automatically pass through all sections of the first narrow road based on the environmental information.
  • a prompt message can be displayed on the vehicle display screen.
  • the prompt message can prompt the user "You have a narrow road ahead traffic record.” , after clicking to turn it on, the vehicle will automatically drive to the end of the narrow road according to the planned trajectory.”
  • the vehicle can automatically drive from the starting point of the narrow lane to the end of the narrow lane according to the planned trajectory.
  • the environmental information includes the location of the first meeting point, and before controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environmental information, the method further includes: detecting that the vehicle Meet another vehicle at the first position of the first narrow lane; when the first position cannot meet the meeting conditions, prompt the user to automatically drive from the current position of the vehicle to the position of the first meeting point; wherein, Controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environmental information includes: when detecting an operation of the user instructing to automatically drive from the current location to the location of the first meeting point, according to The environmental information controls the vehicle to automatically drive from the current location to the first meeting point.
  • the first position cannot satisfy meeting conditions, including: the first position cannot satisfy the vehicle passing side by side with the other vehicle, or the first position cannot satisfy the vehicle passing simultaneously with the other vehicle.
  • a prompt message can be displayed on the vehicle display.
  • the prompt message can prompt the user that "there is about to meet another vehicle ahead, and the meeting point cannot meet the meeting conditions. After clicking to open The vehicle will automatically drive to the available meeting point according to the planned trajectory." When it is detected that the user clicks to open the control, the vehicle can be controlled to automatically drive from the current location to the available meeting point.
  • the above available meeting points can be located between the current position of the vehicle and position D. Then when the user clicks to open the control is detected, It can automatically move forward from the current position to an available meeting point; or, the available meeting point is between the starting point of the first narrow lane and the current position of the vehicle, then when the user clicks to open the control is detected, the vehicle can start from the current position. Automatically reverse to an available meeting point.
  • the method before controlling the vehicle to automatically drive in part or all of the first narrow road section according to the environmental information, the method further includes: when the vehicle travels to the second position of the first narrow road and detects When the user performs a reversing operation, the user is prompted to automatically reverse from the second position to the third position; wherein, based on the environmental information, the vehicle is controlled to automatically drive in part or all of the first narrow road, including: When the user instructs the operation of automatically reversing from the second position to the third position, the vehicle is controlled to automatically reverse from the second position to the third position according to the environmental information.
  • a prompt message can be displayed on the vehicle display.
  • the prompt message can prompt the user that "the reversing trajectory has been planned for you. After clicking OK, The vehicle will automatically reverse along the reversing trajectory to the starting point of the narrow road.”
  • the vehicle can automatically back up from the current position to the starting point of the first narrow road.
  • the vehicle while the vehicle is driving in the first narrow lane, when a user's preset operation (for example, a lever) is detected, the environmental information of the first narrow lane (for example, (a) in Figure 5 (the information displayed in the middle display box 501) and the position information of the vehicle in the first narrow lane.
  • the user can arbitrarily select the target location he wants the vehicle to drive to automatically in the display box 501 .
  • the vehicle can plan a driving trajectory from the current position to the fourth position and can prompt the user to click the turn-on control and then automatically drive to the fourth position.
  • the vehicle can automatically drive from the current position to the fourth position.
  • the third position is the starting point of the narrow road or the third position is the position of the second meeting point, and the environment information includes the position of the second meeting point.
  • the method before obtaining the environmental information of the first narrow channel, the method further includes: determining that the first narrow channel is a fixed narrow channel.
  • determining that the first narrow channel is a fixed narrow channel includes: determining that the first narrow channel is not a temporary narrow channel.
  • the current road can be determined For fixed narrow roads.
  • the fixed narrow lane does not include narrow lanes temporarily formed due to situations such as passing vehicles or avoiding other vehicles during normal road driving.
  • the vehicle when the user is driving a vehicle on the road and needs to pass through a temporary narrow lane formed by a large truck on the roadside, the vehicle can activate the camera device outside the cabin and assist the user to drive through the temporary narrow lane. The vehicle does not need to memorize the environmental information of the temporary narrow road.
  • the method further includes: displaying blind spot images of the left front and right front of the vehicle while the vehicle is moving forward through the first narrow lane; or, while the vehicle is reversing through the first narrow lane During the process, the blind spot images of the left rear and right rear of the vehicle are displayed.
  • the blind spot images of the left front and right front of the vehicle can be displayed through the display area 303 and the display area 304 in the display screen 201 respectively.
  • the right rear and left rear of the vehicle can be displayed through the display area 303 and the display area 304 in the display screen 201 respectively. blind spot image.
  • Figure 11 shows a schematic block diagram of a device 1100 for narrow channel passage provided by an embodiment of the present application.
  • the device 1100 includes: an acquisition unit 1110, used to acquire the environmental information of the first narrow road when the vehicle enters the first narrow road; a control unit 1120, used to control the first narrow road according to the environmental information.
  • the vehicle drives automatically on part or all of the first narrow road section.
  • the device further includes a first prompt unit and a first detection unit, the first prompt unit being used to prompt the user to automatically pass the first narrow lane when the vehicle enters the first narrow lane again;
  • the control unit 1120 is configured to: when the first detection unit detects the user's instruction to automatically pass through the first narrow lane, control the vehicle to automatically pass through the first narrow lane according to the environmental information. section of the road.
  • the environmental information includes the location of the first meeting point
  • the device further includes a second prompt unit and a second detection unit, the second detection unit being used to detect when the vehicle and another vehicle are at the first meeting point.
  • the control unit 1120 is configured to: when the second detection unit detects the user's instruction to automatically drive from the current location to the first meeting point, control the vehicle to automatically drive from the current location according to the environmental information. Drive to the first meeting point.
  • the device further includes a third prompt unit and a third detection unit, the third prompt unit is used to drive the vehicle to the second position of the first narrow road and the third detection unit detects that the user is reversing.
  • the control unit 1120 is configured to: when the third detection unit detects the user's instruction to automatically reverse from the second position to the third position During operation, the vehicle is controlled to automatically reverse from the second position to the third position according to the environmental information.
  • the third position is the starting point of the narrow road or the third position is the position of the second meeting point, and the environment information includes the position of the second meeting point.
  • the device further includes a determining unit, and the method further includes: the determining unit, configured to determine that the first narrow channel is a fixed narrow channel before the acquisition unit acquires the environmental information of the first narrow channel.
  • control unit 1120 is also configured to: control the vehicle-mounted display screen to display blind spot images of the left and right front of the vehicle while the vehicle is moving forward through the first narrow road; or, in the While the vehicle is reversing through the first narrow lane, the vehicle-mounted display screen is controlled to display blind spot images on the left rear and right rear of the vehicle.
  • the acquisition unit 1110 may be the computing platform in Figure 1 or a processing circuit, processor or controller in the computing platform.
  • the processor 151 can acquire sensors (for example, a surround-view camera outside the cockpit, lidar, millimeter wave radar or ultrasonic wave). Radar) collected data.
  • the processor 151 may obtain the environment information of the first narrow channel (for example, the environment model of the above-mentioned narrow channel A) based on the data collected by the sensor.
  • the processor 151 can also plan a driving trajectory for the vehicle from the starting point to the end point of the first narrow lane based on the environmental information of the first narrow lane.
  • the processor 151 may also acquire data collected by a sensor (for example, a surround-view camera, lidar, millimeter wave radar or ultrasonic radar outside the cabin).
  • the processor 151 may update the environmental information of the first narrow channel according to the data collected by the sensor. For example, when the vehicle passes through the first narrow lane again, the processor 151 determines based on the data collected by the sensor that a new obstacle A is added at the position A of the first narrow lane, then it can be added to the environmental information of the first narrow lane. Based on the information that obstacle A is located at position A, the processor 151 can also update the driving trajectory from the starting point to the end point of the first narrow road.
  • a sensor for example, a surround-view camera, lidar, millimeter wave radar or ultrasonic radar outside the cabin.
  • the processor 151 may update the environmental information of the first narrow channel according to the data collected by the sensor. For example, when the vehicle passes through the first narrow lane again, the processor 151 determines based on the data collected by the
  • control unit 1120 may be the computing platform in FIG. 1 or a processing circuit, processor or controller in the computing platform. Taking the control unit 1120 as the processor 152 in the computing platform as an example, the processor 152 can control the vehicle to automatically drive on part or all of the first narrow road section based on the environmental information of the first narrow road determined by the processor 151 .
  • the processor 152 can control the display device to display prompt information.
  • the prompt information is used to remind the user that the vehicle saves the environmental information of the first narrow lane and can adopt the planned driving trajectory. Automatically pass through the first narrow passage.
  • the processor 152 may control the vehicle to automatically pass through the first narrow lane according to the driving trajectory.
  • the above functions implemented by the acquisition unit 1110 and the functions implemented by the control unit 1120 can be implemented by different processors, or can also be implemented by the same processor, which is not limited in the embodiments of the present application.
  • each unit in the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.
  • the unit in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods.
  • the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor
  • the memory is a memory within the device or a memory outside the device.
  • the units in the device can be implemented in the form of hardware circuits, and some or all of the functions of the units can be implemented through the design of the hardware circuits, which can be understood as one or more processors; for example, in one implementation,
  • the hardware circuit is an ASIC, which realizes the functions of some or all of the above units through the design of the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented through PLD, taking FPGA as an example. It can include a large number of logic gate circuits, and the connection relationships between the logic gate circuits can be configured through configuration files to realize the functions of some or all of the above units. All units of the above device may be implemented in the form of software called by the processor, or may be implemented in the form of hardware circuits, or Part of it is implemented in the form of software called by the processor, and the remaining part is implemented in the form of hardware circuits.
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instruction reading and execution capabilities, such as a CPU, a microprocessor, a GPU, or DSP, etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is a hardware circuit implemented by ASIC or PLD. For example, FPGA.
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as NPU, TPU, DPU, etc.
  • each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA , or a combination of at least two of these processor forms.
  • processors or processing circuits
  • each unit in the above device may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented as a SOC.
  • the SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device.
  • the at least one processor may be of different types, such as a CPU and an FPGA, or a CPU and an artificial intelligence processor. CPU and GPU etc.
  • Embodiments of the present application also provide a device, which includes a processing unit and a storage unit, where the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device performs the method performed in the above embodiments or step.
  • the above-mentioned processing unit may be the processor 151-15n shown in Figure 1.
  • An embodiment of the present application also provides a vehicle, which may include the above-mentioned intelligent narrow road assistance system 600 or device 1100 .
  • Embodiments of the present application also provide a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the above method.
  • Embodiments of the present application also provide a computer-readable medium.
  • the computer-readable medium stores program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to perform the above method.
  • each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor.
  • the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or power-on erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.
  • the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.
  • the size of the sequence numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its functions and internal logic, and should not be implemented in this application.
  • the implementation of the examples does not constitute any limitations.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program code. .

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Abstract

本申请实施例提供了一种窄道通行的方法、装置和车辆，该方法包括：在车辆驶入第一窄道时，获取该第一窄道的环境信息；根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶。本申请实施例可以应用于智能汽车或者电动汽车中，有助于提升车辆的智能化程度，也有助于提升车辆通过窄道时用户的驾驶体验。

Description

一种窄道通行的方法、装置和车辆
本申请要求于2022年8月11日提交中国专利局、申请号为202210961414.5、申请名称为“一种窄道通行的方法、装置和车辆”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。
技术领域
本申请实施例涉及智能驾驶领域，并且更具体地，涉及一种窄道通行的方法、装置和车辆。
背景技术
当前车辆在通过窄道时，用户可以使用的窄道辅助功能一般是激活车辆的前视图以及360°顶视图。这样的窄道辅助功能更多的是专注于预警层面，对于用户来说是远远不够的。例如用户驾驶车辆通过窄道时还是不知道如何打方向盘才能避免和障碍物(例如，道沿)发生碰撞。因此，如何提升用户驾驶车辆通过窄道时的驾驶体验成为了一个亟待解决的问题。
发明内容
本申请实施例提供一种窄道通行的方法、装置和车辆，有助于提升车辆通过窄道时用户的驾驶体验。
本申请中的车辆可以为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
第一方面，提供了一种窄道通行的方法，该方法包括：在车辆驶入第一窄道时，获取该第一窄道的环境信息；根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶。
本申请实施例中，在车辆通过窄道时可以获取窄道的环境信息，从而车辆可以根据该环境信息控制车辆在窄道的部分或者全部路段上自动行驶。这样，通过对窄道周围环境的记忆，车辆可以自动通过窄道的部分或者全部路段，无需用户手动驾驶车辆通过窄道，有助于提升车辆的智能化程度，也有助于提升车辆通过窄道时用户的驾驶体验。
在一些可能的实现方式中，该方法还包括：在车辆所处道路的宽度与车辆的宽度之差小于或者等于预设阈值时，确定车辆驶入第一窄道。
结合第一方面，在第一方面的某些实现方式中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：在该车辆再一次驶入该第一窄道时，提示用户自动通过该第一窄道；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示自动通过该第一窄道的操作时，根据该环境信息控制该车辆自动通过该第一窄道的全部路段。
本申请实施例中，在车辆再一次驶入第一窄道时，可以提示用户自动通过该窄道。在检测到用户指示自动通过该窄道的操作时，可以根据该之前获取的窄道的环境信息控制车辆自动通过第一窄道的全部路段。这样，无需用户手动驾驶车辆通过窄道，有助于提升车辆的智能化程度，也有助于提升车辆通过窄道时用户的驾驶体验。
在一些可能的实现方式中，该提示用户自动通过该第一窄道，包括：提示用户自动通过该第一窄道且显示从该第一窄道的起点至该第一窄道的终点的行驶轨迹。其中，根据该环境信息控制该车辆自动通过该第一窄道的全部路段，包括：按照该行驶轨迹，控制车辆自动从该第一窄道的起点行驶至该第一窄道的终点。
结合第一方面，在第一方面的某些实现方式中，该环境信息中包括第一会车点的位置，该根据该 环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：检测到该车辆与另一车辆在该第一窄道的第一位置会车；在该第一位置无法满足会车条件时，提示用户从该车辆当前位置自动行驶至该第一会车点的位置；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示从该当前位置自动行驶至该第一会车点的位置的操作时，根据该环境信息控制该车辆从该当前位置自动行驶至该第一会车点的位置。
本申请实施例中，在第一位置无法满足车辆与另一车辆会车时，车辆可以根据环境信息中保存的第一会车点的位置信息，提示用户从当前位置自动行驶至第一会车点的位置。这样，无需用户手动驾驶车辆从当前位置行驶至第一会车点的位置，也无需用户主动记忆第一会车点的位置，有助于提升车辆的智能化程度，也有助于提升车辆通过窄道时用户的驾驶体验。
在一些可能的实现方式中，该提示用户从当前位置自动行驶至第一会车点的位置，包括：提示用户从当前位置自动行驶至第一会车点的位置且控制车载显示屏显示从当前位置至该第一会车点的位置的行驶轨迹。其中，根据该环境信息控制该车辆从该当前位置自动行驶至该第一会车点的位置，包括：按照该行驶轨迹，控制车辆自动从当前位置行驶至第一会车点的位置。
在一些可能的实现方式中，该第一会车点为满足车辆与该另一车辆同时通过的会车点。
结合第一方面，在第一方面的某些实现方式中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：在该车辆行驶至该第一窄道的第二位置且检测到用户倒车的操作时，提示用户从该第二位置自动倒车至第三位置；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示从该第二位置自动倒车至该第三位置的操作时，根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置。
本申请实施例中，车辆在第二位置检测到用户倒车的操作时可以提示用户从第二位置自动倒车至第三位置。在检测到用户指示从该第二位置自动倒车至该第三位置的操作时，可以根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置。这样，无需用户手动驾驶车辆从该第二位置倒车至该第三位置，有助于提升车辆的智能化程度，也有助于提升在窄道中倒车时用户的驾驶体验。
例如，用户驾驶车辆在某个停车场寻找停车位的过程中，将车辆驶入了某个狭窄道路。在该狭窄道路行驶了一段距离后发现无法前行只能倒车。这时，通过对狭窄道路的环境信息的记忆，车辆可以规划从车辆当前位置自动倒车至该狭窄道路的起点的行驶轨迹并提示用户采用该行驶轨迹自动倒车至狭窄道路的起点。这样，可以避免用户手动驾驶车辆在该狭窄道路倒车时可能发生的安全风险，有助于提升车辆通过窄道时用户的驾驶体验。
在一些可能的实现方式中，该提示用户从该第二位置自动倒车至第三位置，包括：提示用户从该第二位置自动倒车至第三位置且控制车载显示屏显示从该第二位置自动倒车至该第三位置的行驶轨迹。其中，根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置，包括：按照该行驶轨迹，控制车辆从该第二位置自动倒车至该第三位置。
结合第一方面，在第一方面的某些实现方式中，该第三位置为该窄道的起点位置或者该第三位置为第二会车点的位置，该环境信息中包括该第二会车点的位置。
结合第一方面，在第一方面的某些实现方式中，该获取该第一窄道的环境信息之前，该方法还包括：确定该第一窄道为固定窄道。
本申请实施例中，在获取第一窄道的环境信息之前，可以先确定该第一窄道为固定窄道，这样可以避免对于临时窄道记忆而造成的计算资源的浪费。
在一些可能的实现方式中，该确定该第一窄道为固定窄道，包括：确定该第一窄道不是临时窄道。
例如，在车辆确定车辆两侧的固定障碍物(例如，路沿或者石墩)高度大于或者等于预设高度且道路的宽度与车辆的宽度之差小于或者等于预设宽度时，可以确定当前道路为固定窄道。
又例如，该固定窄道不包括在正常道路行驶过程中由于会车或者避让其他车辆等情况临时形成的窄道。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在该车辆前行通过该第一窄道的过程中，显示该车辆左侧前方和右侧前方的盲区图像；或者，在该车辆倒车通过该第一窄道的过程中，显示该车辆左侧后方和右侧后方的盲区图像。
本申请实施例中，车辆在前行或者倒车通过第一窄道的过程中，可以显示两侧的盲区图像，方便 用户及时查看到车辆两侧的环境，为用户手动驾驶车辆通过第一窄道提供帮助；或者，在车辆自动通过第一窄道的过程中，方便用户及时了解自动驾驶过程中车辆的安全性。
第二方面，提供了一种窄道通行的装置，该装置包括：获取单元，用于在车辆驶入第一窄道时，获取该第一窄道的环境信息；控制单元，用于根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第一提示单元和第一检测单元，该第一提示单元，用于在该车辆再一次驶入该第一窄道时，提示用户自动通过该第一窄道；其中，该控制单元，用于：在该第一检测单元检测到用户指示自动通过该第一窄道的操作时，根据该环境信息控制该车辆自动通过该第一窄道的全部路段。
结合第二方面，在第二方面的某些实现方式中，该环境信息中包括第一会车点的位置，该装置还包括第二提示单元和第二检测单元，该第二检测单元，用于检测到该车辆与另一车辆在该第一窄道的第一位置会车；该第二提示单元，用于在该第一位置无法满足会车条件时，提示用户从该车辆当前位置自动行驶至该第一会车点的位置；其中，该控制单元，用于：在该第二检测单元检测到用户指示从该当前位置自动行驶至该第一会车点的位置的操作时，根据该环境信息控制该车辆从该当前位置自动行驶至该第一会车点的位置。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第三提示单元和第三检测单元，该第三提示单元，用于在该车辆行驶至该第一窄道的第二位置且该第三检测单元检测到用户倒车的操作时，提示用户从该第二位置自动倒车至第三位置；其中，该控制单元，用于：在该第三检测单元检测到用户指示从该第二位置自动倒车至该第三位置的操作时，根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置。
结合第二方面，在第二方面的某些实现方式中，该第三位置为该窄道的起点位置或者该第三位置为第二会车点的位置，该环境信息中包括该第二会车点的位置。
结合第二方面，在第二方面的某些实现方式中，该装置还包括确定单元，该方法还包括：该确定单元，用于在该获取单元获取该第一窄道的环境信息之前，确定该第一窄道为固定窄道。
结合第二方面，在第二方面的某些实现方式中，该控制单元，还用于：在该车辆前行通过该第一窄道的过程中，控制车载显示屏显示该车辆左侧前方和右侧前方的盲区图像；或者，在该车辆倒车通过该第一窄道的过程中，控制该车载显示屏显示该车辆左侧后方和右侧后方的盲区图像。
第三方面，提供了一种装置，该装置包括处理单元和存储单元，其中存储单元用于存储指令，处理单元执行存储单元所存储的指令，以使该装置执行第一方面中任一种可能的方法。
可选地，上述处理单元可以包括至少一个处理器，上述存储单元可以是存储器，其中存储器可以是芯片内的存储单元(例如，寄存器、缓存等)，也可以是车辆内位于芯片外部的存储单元(例如，只读存储器、随机存取存储器等)。
第四方面，提供了一种车辆，该车辆包括上述第二方面或者第三方面中任一方面所述的装置。
第五方面，提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中任一种可能的方法。
需要说明的是，上述计算机程序代码可以全部或者部分存储在第一存储介质上，其中第一存储介质可以与处理器封装在一起的，也可以与处理器单独封装，本申请实施例对此不作具体限定。
第六方面，提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中任一种可能的方法。
第七方面，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面中任一种可能的方法。
结合第七方面，在一种可能的实现方式中，该处理器通过接口与存储器耦合。
结合第七方面，在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
附图说明
图1是本申请实施例提供的车辆的一个功能框图示意。
图2是本申请实施例提供的一种示例性车辆座舱内显示屏分布的示意图。
图3是本申请实施例提供的图形用户界面GUI。
图4是本申请实施例提供的另一GUI。
图5是本申请实施例提供的另一组GUI。
图6是本申请实施例提供智能窄道辅助系统的示意图。
图7是本申请实施例提供的窄道通行的方法的示意性流程图。
图8是本申请实施例提供的另一GUI。
图9是本申请实施例提供的窄道通行的方法的另一示意性流程图。
图10是本申请实施例提供的窄道通行的方法的另一示意性流程图。
图11是本申请实施例提供的窄道通行的装置的示意性框图。
具体实施方式
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描述。其中，在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。此外，在本实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
图1是本申请实施例提供的车辆100的一个功能框图示意。车辆100可以包括感知系统120、显示装置130和计算平台150，其中，感知系统120可以包括感测关于车辆100周边的环境的信息的一种或多种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球定位系统(global positioning system，GPS)，也可以是北斗系统或者其他定位系统、惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声雷达以及摄像装置中的一种或者多种。
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括一个或多个处理器，例如处理器151至15n(n为正整数)，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，执行指令，以实现相应的功能。
座舱内的显示装置130主要分为两类，第一类是车载显示屏；第二类是投影显示屏，例如抬头显示装置(head up display，HUD)。车载显示屏是一种物理显示屏，是车载信息娱乐系统的重要组成部分，座舱内可以设置有多块显示屏，如数字仪表显示屏，中控屏，副驾驶位上的乘客(也称为前排乘客)面前的显示屏，左侧后排乘客面前的显示屏以及右侧后排乘客面前的显示屏，甚至是车窗也可以作为显示屏进行显示。抬头显示，也称平视显示系统。主要用于在驾驶员前方的显示设备(例如挡风玻璃)上显示例如时速、导航等驾驶信息。以降低驾驶员视线转移时间，避免因驾驶员视线转移而导致的瞳孔变化，提升行驶安全性和舒适性。HUD例如包括组合型抬头显示(combiner-HUD，C-HUD) 系统、风挡型抬头显示(windshield-HUD，W-HUD)系统、增强现实型抬头显示系统(augmented reality HUD，AR-HUD)。应理解，HUD也可以随着技术演进出现其他类型的系统，本申请对此不作限定。
图2示出了本申请实施例提供的一种示例性车辆座舱内显示屏分布的示意图。如图2所示，车辆的座舱内可以包括显示屏201(或者，也可以称为中控屏)、显示屏202(或者，也可以称为副驾娱乐屏)、显示屏203(或者，也可以称为二排左侧区域的娱乐屏)、显示屏204(或者，也可以称为二排右侧区域的娱乐屏)以及仪表屏。
应理解，以下实施例中的图形用户界面(graphical user interface，GUI)是以图2所示的5座车辆为例进行说明的，本申请实施例并不限于此。例如，对于7座运动型多用途汽车(sport utility vehicle，SUV)，座舱内可以包括中控屏、副驾娱乐屏、二排左侧区域的娱乐屏、二排右侧区域的娱乐屏、三排左侧区域的娱乐屏以及三排右侧区域的娱乐屏。又例如，对于客车而言，座舱内可以包括前排娱乐屏和后排娱乐屏；或者，座舱内可以包括驾驶区域的显示屏和乘客区域的娱乐屏。在一种实现中，乘客区域的娱乐屏也可以设置在座舱顶部。
示例性的，图3示出了本申请实施例提供的图形用户界面(graphical user interface，GUI)。
如图3所示，车辆在检测到即将通过窄道时，可以通过显示屏201中的显示区域301显示360°顶视图、当前方向盘偏转角度对应的实际行驶轨迹(例如，区域301中所示的实线)以及为用户推荐的行驶轨迹(例如，区域301中所示的虚线)。显示区域302中可以显示前视图像、当前方向盘偏转角度对应的实际行驶轨迹(例如，区域302中所示的实线)以及为用户推荐的行驶轨迹(例如，区域302中所示的虚线)。驾驶员可以选择按照虚线所示的推荐行驶轨迹操控方向盘，从而可以辅助驾驶员避开障碍物而顺利通过窄道。显示区域303和显示区域304中可以分别显示车辆左侧前方的盲区图像以及车辆右侧前方的盲区图像。
一个实施例中，驾驶员在看到推荐的行驶轨迹时可以按照该行驶轨迹操控方向盘。在检测到驾驶员操控方向盘后车辆的实际行驶轨迹与该推荐的行驶轨迹的重合程度大于或者等于预设重合度时，可以通过语音提示、氛围灯颜色变化或者车载显示屏文字提示中的一种或者多种对驾驶员进行提示，从而使得驾驶员获知车辆的实际行驶轨迹与推荐的行驶轨迹的重合程度大于或者等于预设重合度。
一个实施例中，在检测到道路的宽度与车辆的宽度之间的宽度差小于或者等于预设阈值(例如，60厘米)时，可以确定车辆正在通过窄道。
车辆在向前行驶通过窄道的过程中驾驶员的盲区视角为正前方和车身侧前方，通过显示屏201显示车辆左侧前方的盲区图像以及车辆右侧前方的盲区图像，可以让驾驶员及时察觉到碰撞风险。
一个实施例中，在车辆检测到车辆与位于车辆左侧前方的障碍物(例如，道沿)有碰撞风险时，可以在显示区域303显示提示信息，从而提示用户有碰撞风险。例如，车辆可以在显示区域303中进行红色闪烁提示并且激活自动紧急制动功能。
本申请实施例中，车辆可以对车辆周围的环境进行实时感知，辅助驾驶员驾驶车辆通过窄道。在通过窄道的过程中，可以为驾驶员提供顶视图、前视图、车辆左前的盲区视图和车辆右前的盲区视图，并且可以显示推荐的行驶轨迹，从而更好地辅助驾驶员驾驶车辆通过该窄道。
一个实施例中，车辆可以在首次通过该窄道的过程中主动学习和记忆该窄道。示例性的，车辆在首次通过该窄道的过程中可以通过传感器采集的数据进行构图。
示例性的，图4示出了本申请实施例提供的另一组GUI。
如图4中的(a)所示，在车辆通过该窄道的过程中检测到驾驶员将挡位从D挡调整至R挡，此时车辆可以基于之前驾驶员驾驶车辆通过窄道的过程中对窄道的环境信息的记忆，为驾驶员规划倒车轨迹，其中，倒车轨迹的起点可以为驾驶员发出倒车指令(例如，驾驶员将挡位信息调整为R挡)的位置，倒车轨迹的终点可以为该窄道的起点位置或者某个会车点的位置。
例如，可以通过显示屏201显示提示框401，其中，提示框401中包括提示信息“已为您规划倒车轨迹，点击确定后车辆将沿着倒车轨迹自动倒车至窄道起点”、确定控件402和取消控件403。当检测到用户点击确定控件402的操作时，车辆可以沿着该倒车轨迹自动倒车至该窄道的起点。
如图4中的(b)所示，车辆在按照该倒车轨迹倒车至窄道起点的过程中，可以通过显示屏201中的显示区域301显示360°顶视图、为驾驶员规划的倒车轨迹(例如，区域301中所示的虚线)以及倒车轨迹的终点。显示区域302中可以显示车辆的后视图像以及为驾驶员规划的倒车轨迹(例如，区域 302中所示的虚线)。显示区域303和显示区域304中可以分别显示车辆右侧后方的盲区图像以及车辆左侧后方的盲区图像。
本申请实施例中，车辆可以在首次通过窄道时对窄道周围的环境进行学习和主动记忆。在通过窄道的过程中如果需要进行倒车，则可以根据之前机器学习和实时环境感知的结果为用户规划倒车轨迹，并为驾驶员提供自动倒车至窄道起点或者其他位置的功能，从而使得在窄道中倒车的过程更加智能化和人性化，有效的帮助用户解决窄道倒车难的问题，有助于提升用户的驾驶体验。
示例性的，图5示出了本申请实施例提供的另一组GUI。
如图5中的(a)所示，当车辆即将经过某个已经学习和主动记忆过的窄道时，可以通过显示区域301显示提示信息“您有前方狭窄道路通行记录，点击开启后车辆将按照规划轨迹自动行驶至窄道的终点”、显示框501、开启控件502以及取消控件，其中，显示框501中可以显示窄道的起点、经过学习和主动记忆过的窄道的信息、可用会车点以及窄道的终点。同时，车辆也可以根据之前对该窄道环境的学习，自动规划出通过该窄道的轨迹路线。在检测到驾驶员点击控件502的操作时，车辆就可以根据该轨迹路线自动通过该窄道。
如图5中的(b)所示，在车辆检测到驾驶员点击控件502的操作时，可以通过显示区域301显示倒计时信息和取消控件。在倒计时结束时若未检测到驾驶员取消车辆自动通过该窄道的操作，可以控制车辆自动通过该窄道。显示区域302中可以显示前视图像、当前方向盘偏转角度对应的实际行驶轨迹(例如，区域302中所示的实线)以及为驾驶员规划出的通过该窄道的轨迹路线(例如，区域302中所示的虚线)。显示区域303和显示区域304中可以分别显示车辆左侧前方的盲区图像以及车辆右侧前方的盲区图像。
如图5中的(c)所示，在车辆根据该轨迹路线自动通过该窄道的过程中，可以通过显示区域301显示提示信息“正在按照为您规划的轨迹路线通过该窄道”、显示框503以及退出窄道辅助功能的控件，其中，显示框503中可以显示规划的轨迹路线(例如，显示框503中的虚线)。
一个实施例中，在检测到用户点击退出窄道辅助功能的控件的操作时，车辆可以提示驾驶员接管方向盘。驾驶员可以继续驾驶车辆通过该窄道。
一个实施例中，车辆检测到对向有另一车辆，且车辆与该另一车辆在预计的会车点处无法完成会车(例如，预计的会车点处无法实现车辆与该另一车辆并排通过)，则车辆可以确定根据之前对该窄道环境的学习，确定车辆当前位置与预计的会车点之间是否存在可用会车点，其中，在可用会车点，车辆可以实现对该另一车辆的让行。在车辆当前位置与预计的会车点之间存在可用会车点时，可以提示用户从当前位置自动行驶至该可用会车点。在检测到用户指示从当前位置自动行驶至该可用会车点的操作时，车辆将从当前位置自动行驶至该可用会车点。在车辆行驶至该可用会车点且检测到另一车辆通过该可用会车点时，车辆可以提示用户从该可用会车点继续自动行驶至该窄道的终点。在检测到用户指示从该可用会车点继续自动行驶至该窄道的终点的操作时，车辆可以从该可用会车点继续自动行驶至该窄道的终点。
一个实施例中，在车辆与该另一车辆在预计的会车点处无法完成会车且车辆当前位置与该与预计的会车点之间没有可用会车点时，可以根据之前对该窄道环境的学习，确定从窄道的起点至车辆当前位置之间是否存在可用会车点。在窄道的起点至车辆当前位置之间存在可用会车点时，可以提示用户倒车至该可用会车点；同时，车辆可以规划从车辆当前位置倒车至该可用会车点的倒车轨迹，从而可以提示用户车辆可以按照该倒车轨迹自动倒车至该可用会车点。示例性的，可以通过显示屏201提示信息“已为您规划倒车轨迹，点击确定后车辆将沿着倒车轨迹自动倒车至可用会车点”以及确定控件。在检测到用户点击该确定控件的操作时，可以控制车辆沿着该倒车轨迹自动倒车至可用会车点。
图6示出了本申请实施例提供智能窄道辅助系统600的示意图。其中，该系统600中包括感知模块610、控制模块620、机器学习模块630和显示模块640，其中，感知模块610用于在车辆首次通过窄道A时，对车辆所处的环境进行感知、对当前道路的类型进行感知、对障碍物的位置以及车辆与障碍物之间的距离进行感知、对自车前进方向进行感知以及对自车的行进速度进行感知。
控制模块620可以在车辆首次通过窄道A时，根据感知模块610获取的数据，控制车辆进行防撞自动紧急制动、障碍物监测预警以及窄道行驶轨迹指引。例如，如图3所示，当车辆首次通过某个窄道时，可以根据对感知模块610感知范围内的环境信息为用户规划推荐的行驶轨迹。
机器学习模块630可以在车辆首次通过窄道A的过程中，获取感知模块630感知的数据、该窄道的位置信息以及驾驶员的驾驶行为，实现对局部窄道的环境模型的构建以及从车辆当前位置倒车至另一位置时倒车轨迹的规划。
机器学习模块630可以在车辆首次通过窄道A且已经从窄道A的起点行驶至终点时，通过获取感知模块630感知的数据、该窄道的位置信息以及驾驶员的驾驶行为，实现对整个窄道的环境模型的构建、车辆从窄道的起点至终点的自动行驶轨迹的规划以及从车辆当前位置倒车至另一位置时倒车轨迹的规划。
示例性的，感知模块610中可以包括摄像装置、全球定位系统、惯性测量单元和车轮里程计，其中，摄像装置可以包括前视摄像头，后视摄像头、两个侧视摄像头(分别位于车辆的左侧和右侧)，这4个摄像头还可以配置有鱼眼镜头。前视摄像头、后视摄像头、位于车辆左侧的摄像头和车辆右侧的摄像头可以分别向构图模块输出车辆前面的图像信息，车辆后面的图像信息、车辆左侧的图像信息和车辆右侧的图像信息。机器学习模块630可以经过逆透视变换(inverse perspective mapping，IPM)，将来自4个摄像头的图像信息合成一张IPM图像。
机器学习模块630还可以对IPM图像进行特征提取。机器学习模块可以将IPM图像输入U型(UNET)网络进行特征提取。U型网络可以对IPM图像中每一个像素输出一个语义特征，语义特征包括但不限于道沿、石墩、车道、路面指示标志、减速带、墙面以及障碍物等。
以上介绍了通过摄像装置采集的数据进行特征提取的过程，本申请实施例并不限于此。例如，还可以通过激光雷达、毫米波雷达、超声波雷达采集的数据进行特征提取。
在对IPM图像进行特征提取后，机器学习模块630可以开始进行构图。机器学习模块630可以通过IMU和轮速里程计来确定车辆构建的车辆坐标系中的位置，该车辆坐标系中的位置可以是车辆当前位置相对于车辆刚进入该窄道的位置(例如，车辆刚进入该窄道的位置可以为车辆坐标系中的原点)。或者，机器学习模块630也可以通过全球定位系统来确定车辆在世界坐标系中绝对位置。通过全球定位系统、IMU和轮速里程计，车辆可以构建出定位图层。
通过将定位图层和语义特征进行匹配，机器学习模块630可以构建出窄道A的环境模型。
机器学习模块630可以基于窄道A的环境模型，进行从窄道A的起点至终点的行驶轨迹和从窄道A的某个位置起倒车时的倒车轨迹的计算。在车辆首次经过窄道A时，机器学习模块630可以基于感知模块610感知范围内获取的数据规划窄道A局部的行驶轨迹(例如，从窄道A的起点至车辆当前位置)。在车辆第二次经过窄道A时，由于机器学习模块630已经完成对整个窄道A的环境模型的构建，则机器学习模块630可以根据窄道A的环境模型规划从窄道A的起点至终点的行驶轨迹。
显示模块640可以在车辆首次通过窄道A时，显示窄道A局部的行驶轨迹、自车实际的行驶轨迹、障碍物位置、车辆与障碍物之间的距离、盲区图像以及防撞预警中的一个或者多个。
感知模块610还用于在车辆再次通过窄道A时，对车辆所处的环境进行感知、对障碍物的位置以及车辆与障碍物之间的距离进行感知。感知模块610可以将感知的数据发送给机器学习模块630。
机器学习模块630可以根据感知模块610发送的数据，对窄道A的环境模型进行更新。
例如，车辆首次通过窄道A时，机器学习模块630构建的环境模型中障碍物1(例如，路沿上的石墩)位于窄道A的位置1处；在车辆再次通过窄道A时，机器学习模块630根据感知模块610发送的数据确定障碍物1位于窄道的位置2处，则机器学习模块630可以在窄道A的环境模型中将障碍物1的位置从位置1更新至位置2。
又例如，车辆首次通过窄道A时，机器学习模块630构建的环境模型中窄道A的位置3处没有障碍物2；在车辆再次通过窄道A时，机器学习模块630根据感知模块610发送的数据确定障碍物2出现在窄道的位置3处，则机器学习模块630可以在窄道A的环境模型中的位置3处增加障碍物2。
机器学习模块630还可以在完成对窄道A的环境模型更新后，对从窄道A的起点至终点的行驶轨迹和倒车轨迹进行更新。
一个实施例中，机器学习模块630还可以结合驾驶员的驾驶习惯对从窄道A的起点至终点的行驶轨迹进行规划。例如，在用户手动驾驶车辆经过窄道A时，机器学习模块630确定用户习惯驾驶车辆靠近车辆左侧的路沿行驶，则规划的行驶轨迹中车辆左侧轮胎与车辆左侧路沿的距离可以是小于车辆右侧轮胎与车辆右侧路沿之间的距离。
机器学习模块630还用于在车辆再次通过窄道A时，将从窄道A的起点至终点的行驶轨迹发送给显示模块640，从而显示模块640可以显示从窄道A的起点至终点的行驶轨迹。例如，如图5中的(c)所示，可以通过显示屏201显示从窄道的起点至终点的行驶轨迹。
控制模块620还用于在检测到用户选择车辆自动通过该窄道的操作时，可以按照从窄道A的起点至终点的行驶轨迹，控制车辆自动通过该窄道A。在车辆自动通过窄道A的过程中，控制模块620可以根据从窄道A的起点至终点的行驶轨迹以及障碍物的信息，控制车辆行驶方向、行驶速度以及对障碍物进行避让。
显示模块640还用于在车辆再次经过窄道A时，显示从窄道A的起点至终点的行驶轨迹、障碍物的位置、障碍物与车辆之间的距离以及盲区图像中的一个或者多个。
以上介绍了智能窄道辅助系统600在车辆首次经过窄道A以及再次经过窄道A时各个模块所执行的动作。例如在用户驾驶车辆首次经过某个窄道时，智能窄道辅助系统600可以为用户提供窄道通行轨迹指引、窄道通行盲区图像、障碍物监测预警以及防撞自动紧急制动功能中的一个或者多个。在用户驾驶车辆经过该窄道的过程中需要进行倒车时，智能窄道辅助系统600可以为用户提供倒车轨迹自动规划、窄道倒车盲区图像、障碍物自动避让以及主动会车监测避让功能中的一个或者多个。在用户驾驶车辆再次经过该窄道时，智能窄道辅助系统600可以为用户提供前行轨迹自动规划、窄道前行盲区图像、障碍物自动避让以及主动会车监测避让功能中的一个或者多个。
下面结合图7介绍本申请实施例提供的窄道通行的方法700的示意性流程图。如图7所示，该方法包括：
S701，检测到车辆首次经过某个窄道。
示例性的，车辆可以实时获取车辆所处的位置信息。通过车辆所处的位置信息以及道路的类型，可以确定是否首次经过该窄道。
S702，判断车辆是否开启了窄道辅助功能。
示例性的，车辆可以为用户提供窄道辅助功能开启或者关闭的控件。如，该窄道辅助功能开启或者关闭的控件可以为位于下拉菜单中，或者，该窄道辅助功能开启或者关闭的控件可以在车辆的功能设置中。
示例性的，如图8所示的GUI，用户可以选择在设置中的辅助驾驶中开启该窄道辅助功能。对该窄道辅助功能的描述为“当车辆首次经过窄道时，对窄道的环境进行学习和记忆；当车辆再次经过窄道时，为您提供窄道自动通行轨迹”。
S703，在车辆开启了窄道辅助功能时，车辆可以根据传感器采集的数据对窄道的环境进行感知，从而显示推荐的行驶轨迹。
一个实施例中，在车辆首次经过该窄道时，可以根据传感器感知范围内的数据，为用户规划推荐的行驶轨迹。例如，为用户推荐一定距离(例如，3米)内的行驶轨迹。
S704，在车辆未开启窄道辅助功能时，可以提示用户启动该窄道辅助功能。
示例性的，可以通过显示屏201或者仪表屏显示文字信息“检测到您驾驶车辆正在经过窄道，是否希望启动窄道辅助功能。开启窄道辅助功能后，车辆将会对窄道的环境进行学习和记忆”。
S705，在车辆经过窄道的过程中，判断用户是否需要控制车辆倒车。
S706，在检测到用户需要控制车辆倒车时，向用户提示规划的倒车轨迹。
一个实施例中，在检测到用户需要控制车辆倒车时，可以向用户提示规划的倒车轨迹并提示用户自动倒车至某个位置(例如，窄道的起点或者可用会车点的位置)。例如，在检测到用户指示从当前位置自动倒车至窄道的起点的操作时，车辆可以按照该倒车轨迹自动控制车辆倒车。
示例性的，在用户驾驶车辆首次经过窄道的过程中，车辆可以对已近经过的部分窄道的环境进行学习和记忆，从而获得窄道的部分环境模型。在检测到用户需要控制车辆倒车时，可以根据该窄道的部分环境模型规划倒车轨迹。在检测到用户指示从当前位置自动倒车至窄道的起点的操作时，车辆可以根据该倒车轨迹自动控制车辆倒车。
S707，在未检测到用户倒车的操作时，持续记录车辆通过该窄道过程中的相关信息。
一个实施例中，该相关信息包括驾驶员的驾驶数据和窄道的环境信息。
例如，该驾驶员的驾驶数据信息包括经过该窄道时的速度信息、驾驶员的驾驶习惯(例如，驾驶 员习惯车辆靠左侧道沿更近一些)等
又例如，该环境信息包括但不限于窄道的位置信息、障碍物的位置与类型、车辆与障碍物之间的距离等信息。
S708，判断该窄道是否为固定窄道。
例如，在车辆确定车辆两侧的固定障碍物(例如，路沿或者石墩)高度大于或者等于预设高度且道路的宽度与车辆的宽度之差小于或者等于预设宽度时，可以确定当前道路为固定窄道。
又例如，该固定窄道不包括在正常道路行驶过程中由于会车或者避让其他车辆等情况临时形成的窄道。
S709，若该窄道为固定窄道，根据该相关信息构建该窄道的环境模型。
应理解，上述实施例中介绍了构建窄道的环境模型的过程，为了简洁，此处不再赘述。
一个实施例中，该方法还包括：根据该窄道的环境模型，
S710，若该窄道不是固定窄道，删除该相关信息。
以上通过图7所示的方法介绍了车辆首次经过某个窄道时的过程，下面结合图9所示的方法介绍车辆再次经过还窄道时的过程。
图9示出了本申请实施例提供的窄道通行的方法900的示意性流程图。如图9所示，该方法900包括：
S901，检测到车辆再次经过该窄道。
示例性的，车辆可以实时获取车辆所处的位置信息。通过车辆所处的位置信息，可以确定是否再次经过该窄道。
S902，判断车辆是否开启了窄道辅助功能。
S903，在车辆开启了窄道辅助功能时，显示从窄道的起点至终点的行驶轨迹并在检测到用户的操作时，控制车辆按照规划轨迹自动行驶至窄道的终点。
示例性的，如图5中的(a)所示，车辆可以通过显示屏201显示提示信息“您有前方狭窄道路通行记录，点击开启后车辆将按照规划轨迹自动行驶至窄道的终点”以及在显示框501中显示从窄道的起点至终点的行驶轨迹。在检测到用户点击开启控件或者检测到用户发出语音指令“自动行驶至窄道的终点”时，可以控制车辆自动行驶至窄道的终点。
S904，在车辆未开启窄道辅助功能时，提示用户开启窄道辅助功能。
一个实施例中，在车辆未开启窄道辅助功能时，可以提示用户车辆内部保存有该窄道的环境模型以及从窄道的起点至终点的行驶轨迹，并提示用户开启窄道辅助功能。
S905，判断自动行驶至窄道的终点的过程中用户是否需要控制车辆倒车。
S906，在检测到用户需要控制车辆倒车时，向用户提示规划的倒车轨迹。
一个实施例中，在检测到用户需要控制车辆倒车时，可以向用户提示规划的倒车轨迹并提示用户自动倒车至某个位置(例如，窄道的起点或者可用会车点的位置)。例如，在检测到用户指示从当前位置自动倒车至窄道的起点的操作时，车辆可以按照该倒车轨迹自动控制车辆倒车。
S907，在未检测到用户倒车的操作时，持续记录驾驶员驾驶车辆通过该窄道过程中的相关信息。
S908，根据S907中的相关信息，对S709中的环境模型进行更新。
一个实施例中，可以根据S907中的相关信息更新S709中的环境模型，并根据更新后的环境模型重新规划从窄道A的起点至终点的行驶轨迹或者从窄道中的某个位置倒车时的倒车轨迹。
本申请实施例中，当用户驾驶车辆再次经过某个窄道时，根据之前对该窄道的学习和记忆，为用户推荐自动通过该窄道的行驶轨迹。这样，无需用户手动驾驶车辆通过窄道，有助于提升车辆的智能化程度，也有助于提升车辆通过窄道时用户的驾驶体验。
图10示出了本申请实施例提供的窄道通行的方法1000的示意性流程图。该方法1000可以由车辆执行，或者，该方法1000可以由上述计算平台执行，或者，该方法1000可以由计算平台和显示装置(例如，车载显示屏)组成的显示系统执行，或者，该方法1000可以由上述计算平台中的片上系统(system-on-a-chip，SOC)执行，或者，该方法1000可以由计算平台中的处理器执行。如图10所示，该方法1000包括：
S1001，在车辆驶入第一窄道时，获取该第一窄道的环境信息。
一个实施例中，该方法还包括：在车辆所处道路的宽度与车辆的宽度之差小于或者等于预设阈值时，确定车辆驶入第一窄道。
示例性的，该预设阈值为60厘米。
例如，车辆在T1时刻确定驶入路段1，该路段1的宽度与车辆的宽度之差小于或者等于预设阈值。在T2时刻驶离该路段1且驶入路段2，该路段2的宽度与该车辆的宽度之差大于该预设阈值。在T3时刻驶离该路段2且驶入路段3，该路段3的宽度与车辆的宽度之差小于或者等于预设阈值。在路段2的长度小于或者等于预设长度时，可以将路段1、路段2和路段3组成的路段作为一个窄道进行记忆。在路段2的长度大于预设长度时，可以将路段1作为一个窄道且将路段3作为另一个窄道分别进行记忆。
一个实施例中，在车辆第一次驶入第一窄道时，可以通过传感器采集的第一数据获取第一窄道的环境信息。在车辆再一次驶入第一窄道时，可以通过传感器采集的第二数据更新该第一窄道的环境信息。
以第一窄道是窄道A为例，该第一窄道的环境信息可以包括上述窄道A的环境模型。
一个实施例中，该方法还包括：在车辆从第一窄道的起点行驶至终点时，可以获取整个第一窄道的环境信息。此时可以根据整个第一窄道的环境信息，规划从第一窄道的起点自动行驶至第一窄道的终点的行驶轨迹。或者，在车辆从第一窄道的起点行驶至某个位置时，可以获取部分第一窄道的环境信息，此时可以根据部分第一窄道的环境信息，规划从当前位置自动倒车至某个位置(例如，第一窄道的起点)的行驶轨迹。
S1002，根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶。
示例性的，在第一窄道的全部路段自动行驶可以包括从第一窄道的起点自动行驶至第一窄道的终点，或者，从第一窄道的终点自动倒车至第一窄道的起点。
示例性的，在第一窄道的部分路段自动行驶包括车辆行驶至第一窄道的位置B时，从位置B自动行驶至第一窄道的位置C，其中，位置B可以是车辆当前所处的位置，位置C可以为第一窄道中可用会车点的位置；或者，位置B可以是车辆当前所处的位置，位置C可以为第一窄道的起点；或者，位置B可以为第一窄道的终点，位置C可以为第一窄道中可用会车点的位置。
可选地，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：在该车辆再一次驶入该第一窄道时，提示用户自动通过该第一窄道；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示自动通过该第一窄道的操作时，根据该环境信息控制该车辆自动通过该第一窄道的全部路段。
示例性的，如图5中的(a)所示，在车辆再一次驶入第一窄道时，可以通过车载显示屏显示提示信息，该提示信息可以提示用户“您有前方狭窄道路通行记录，点击开启后车辆将按照规划轨迹自动行驶至窄道的终点”。在检测到用户点击开启控件502的操作时，车辆可以根据该规划轨迹，从窄道的起点自动行驶至窄道的终点。
可选地，该环境信息中包括第一会车点的位置，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：检测到该车辆与另一车辆在该第一窄道的第一位置会车；在该第一位置无法满足会车条件时，提示用户从该车辆当前位置自动行驶至该第一会车点的位置；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示从该当前位置自动行驶至该第一会车点的位置的操作时，根据该环境信息控制该车辆从该当前位置自动行驶至该第一会车点的位置。
可选地，该第一位置无法满足会车条件，包括：该第一位置无法满足车辆与该另一车辆并排通过，或者，该第一位置无法满足车辆与该另一车辆同时通过。
示例性的，车辆在第一窄道中行驶至位置C时确定车辆和另一车辆即将在第一窄道的位置D处会车。在位置D无法满足会车条件时，可以通过车载显示屏显示提示信息，该提示信息可以提示用户“即将在前方与另一车辆会车，且该会车点无法满足会车条件，点击开启后车辆将按照规划轨迹自动行驶至可用会车点”。在检测到用户点击开启控件的操作时，可以控制车辆从当前位置自动行驶至该可用会车点。
以上可用会车点可以位于车辆当前位置与位置D之间，那么在检测到用户点击开启控件的操作时， 可以从当前位置自动前行至可用会车点；或者，该可用会车点位置第一窄道的起点和车辆当前位置之间，那么在检测到用户点击开启控件的操作时，可以从当前位置自动倒车至可用会车点。
可选地，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶之前，该方法还包括：在该车辆行驶至该第一窄道的第二位置且检测到用户倒车的操作时，提示用户从该第二位置自动倒车至第三位置；其中，该根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶，包括：在检测到用户指示从该第二位置自动倒车至该第三位置的操作时，根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置。
示例性的，如图4中的(a)所示，在检测到用户倒车的操作时，可以通过车载显示屏显示提示信息，该提示信息可以提示用户“已为您规划倒车轨迹，点击确定后车辆将沿着倒车轨迹自动倒车至窄道起点”。在检测到用户点击确定控件402的操作时，车辆可以从当前位置自动倒车至第一窄道的起点。
一个实施例中，车辆在第一窄道中行驶的过程中，在检测到用户的预设操作(例如，拨杆)时可以显示第一窄道的环境信息(例如，图5中的(a)中显示框501显示的信息)以及车辆在第一窄道中的位置信息。用户可以在显示框501中任意选择希望车辆自动行驶至的目标位置。在检测到用户选择第一窄道中的第四位置的操作时，车辆可以规划从当前位置至该第四位置的行驶轨迹且可以提示用户点击开启控件后自动行驶至该第四位置。在检测到用户点击开启控件的操作时，车辆可以从当前位置自动行驶至该第四位置。
可选地，该第三位置为该窄道的起点位置或者该第三位置为第二会车点的位置，该环境信息中包括该第二会车点的位置。
可选地，该获取该第一窄道的环境信息之前，该方法还包括：确定该第一窄道为固定窄道。
可选地，该确定该第一窄道为固定窄道，包括：确定该第一窄道不是临时窄道。
例如，在车辆确定车辆两侧的固定障碍物(例如，路沿或者石墩)高度大于或者等于预设高度且道路的宽度与车辆的宽度之差小于或者等于预设宽度时，可以确定当前道路为固定窄道。
又例如，该固定窄道不包括在正常道路行驶过程中由于会车或者避让其他车辆等情况临时形成的窄道。
又例如，用户驾驶车辆在道路上行驶时，需要通过例如大卡车在旁边道路形成临时窄道的情况，此时车辆可以激活座舱外的摄像装置并辅助用户人驾通过该临时窄道，此时车辆可以不对该临时窄道的环境信息进行记忆。
可选地，该方法还包括：在该车辆前行通过该第一窄道的过程中，显示该车辆左侧前方和右侧前方的盲区图像；或者，在该车辆倒车通过该第一窄道的过程中，显示该车辆左侧后方和右侧后方的盲区图像。
示例性的，如图3所示，在车辆前行通过第一窄道时，可以通过显示屏201中的显示区域303和显示区域304分别显示该车辆左侧前方和右侧前方的盲区图像。
示例性的，如图4中的(b)所示，在车辆在第一窄道中倒车时，可以通过显示屏201中的显示区域303和显示区域304分别显示该车辆右侧后方和左侧后方的盲区图像。
以上窄道通行的方法可以应用的场景包括但不限于以下几种场景：
(1)通往部分商场、地下停车场的单行通道很狭窄，司机很容易剐蹭到墙面或者立柱等障碍物；
(2)小区路口或者限行道路上有障碍物(例如，石墩)，导致道路狭窄的情况；
(3)小区路面经常有很多随意停放的车辆形成的窄道，车辆在该窄道上行驶时的路径不会发生变化，但是窄道的形状或者环境信息会不定时随机变化；
(4)停车场找车位时驶入死胡同时，用户驾驶车辆掉头困难或者无法掉头，需要原路倒车；
(5)车辆在窄道上行驶的过程中突然遇到对象来车需要紧急会车，用户需要倒车到可用会车点。
图11示出了本申请实施例提供的窄道通行的装置1100的示意性框图。如图11所示，该装置1100包括：获取单元1110，用于在车辆驶入第一窄道时，获取该第一窄道的环境信息；控制单元1120，用于根据该环境信息，控制该车辆在该第一窄道的部分或者全部路段自动行驶。
可选地，该装置还包括第一提示单元和第一检测单元，该第一提示单元，用于在该车辆再一次驶入该第一窄道时，提示用户自动通过该第一窄道；其中，该控制单元1120，用于：在该第一检测单元检测到用户指示自动通过该第一窄道的操作时，根据该环境信息控制该车辆自动通过该第一窄道的全 部路段。
可选地，该环境信息中包括第一会车点的位置，该装置还包括第二提示单元和第二检测单元，该第二检测单元，用于检测到该车辆与另一车辆在该第一窄道的第一位置会车；该第二提示单元，用于在该第一位置无法满足会车条件时，提示用户从该车辆当前位置自动行驶至该第一会车点的位置；其中，该控制单元1120，用于：在该第二检测单元检测到用户指示从该当前位置自动行驶至该第一会车点的位置的操作时，根据该环境信息控制该车辆从该当前位置自动行驶至该第一会车点的位置。
可选地，该装置还包括第三提示单元和第三检测单元，该第三提示单元，用于在该车辆行驶至该第一窄道的第二位置且该第三检测单元检测到用户倒车的操作时，提示用户从该第二位置自动倒车至第三位置；其中，该控制单元1120，用于：在该第三检测单元检测到用户指示从该第二位置自动倒车至该第三位置的操作时，根据该环境信息控制该车辆从该第二位置自动倒车至该第三位置。
可选地，该第三位置为该窄道的起点位置或者该第三位置为第二会车点的位置，该环境信息中包括该第二会车点的位置。
可选地，该装置还包括确定单元，该方法还包括：该确定单元，用于在该获取单元获取该第一窄道的环境信息之前，确定该第一窄道为固定窄道。
可选地，该控制单元1120，还用于：在该车辆前行通过该第一窄道的过程中，控制车载显示屏显示该车辆左侧前方和右侧前方的盲区图像；或者，在该车辆倒车通过该第一窄道的过程中，控制该车载显示屏显示该车辆左侧后方和右侧后方的盲区图像。
示例性的，该获取单元1110可以是图1中的计算平台或者计算平台中的处理电路、处理器或者控制器。以获取单元1110为计算平台中的处理器151为例，在车辆第一次经过第一窄道时，处理器151可以获取传感器(例如，座舱外的环视摄像头、激光雷达、毫米波雷达或者超声波雷达)采集的数据。处理器151可以根据传感器采集的数据获取第一窄道的环境信息(例如，上述窄道A的环境模型)。一个实施例中，处理器151还可以根据该第一窄道的环境信息，为车辆规划从第一窄道的起点至终点的行驶轨迹。
示例性的，在车辆再一次经过第一窄道时，处理器151还可以获取传感器(例如，座舱外的环视摄像头、激光雷达、毫米波雷达或者超声波雷达)采集的数据。处理器151可以根据传感器采集的数据更新第一窄道的环境信息。例如，车辆再一次经过第一窄道时，处理器151根据传感器采集的数据确定在第一窄道的位置A处新增加了一个障碍物A，则可以在第一窄道的环境信息中增加障碍物A位于位置A的信息，进而处理器151还可以更新从第一窄道的起点至终点的行驶轨迹。
示例性的，该控制单元1120可以是图1中的计算平台或者计算平台中的处理电路、处理器或者控制器。以控制单元1120为计算平台中的处理器152为例，处理器152可以根据处理器151确定的第一窄道的环境信息，控制车辆在第一窄道的部分或者全部路段自动行驶。
示例性的，在车辆再一次经过第一窄道时，处理器152可以控制显示装置显示提示信息，该提示信息用于提示用户车辆保存有第一窄道的环境信息以及可以采用规划的行驶轨迹自动通过该第一窄道。处理器152在获取到用户指示自动通过该第一窄道的指令时，可以按照该行驶轨迹控制车辆自动通过该第一窄道。
以上获取单元1110所实现的功能和控制单元1120所实现的功能可以分别由不同的处理器实现，或者，也可以由相同的处理器实现，本申请实施例对此不作限定。
应理解以上装置中各单元的划分仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。此外，装置中的单元可以以处理器调用软件的形式实现；例如装置包括处理器，处理器与存储器连接，存储器中存储有指令，处理器调用存储器中存储的指令，以实现以上任一种方法或实现该装置各单元的功能，其中处理器例如为通用处理器，例如CPU或微处理器，存储器为装置内的存储器或装置外的存储器。或者，装置中的单元可以以硬件电路的形式实现，可以通过对硬件电路的设计实现部分或全部单元的功能，该硬件电路可以理解为一个或多个处理器；例如，在一种实现中，该硬件电路为ASIC，通过对电路内元件逻辑关系的设计，实现以上部分或全部单元的功能；再如，在另一种实现中，该硬件电路为可以通过PLD实现，以FPGA为例，其可以包括大量逻辑门电路，通过配置文件来配置逻辑门电路之间的连接关系，从而实现以上部分或全部单元的功能。以上装置的所有单元可以全部通过处理器调用软件的形式实现，或全部通过硬件电路的形式实现，或 部分通过处理器调用软件的形式实现，剩余部分通过硬件电路的形式实现。
在本申请实施例中，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如CPU、微处理器、GPU、或DSP等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为ASIC或PLD实现的硬件电路，例如FPGA。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如NPU、TPU、DPU等。
可见，以上装置中的各单元可以是被配置成实施以上方法的一个或多个处理器(或处理电路)，例如：CPU、GPU、NPU、TPU、DPU、微处理器、DSP、ASIC、FPGA，或这些处理器形式中至少两种的组合。
此外，以上装置中的各单元可以全部或部分可以集成在一起，或者可以独立实现。在一种实现中，这些单元集成在一起，以SOC的形式实现。该SOC中可以包括至少一个处理器，用于实现以上任一种方法或实现该装置各单元的功能，该至少一个处理器的种类可以不同，例如包括CPU和FPGA，CPU和人工智能处理器，CPU和GPU等。
本申请实施例还提供了一种装置，该装置包括处理单元和存储单元，其中存储单元用于存储指令，处理单元执行存储单元所存储的指令，以使该装置执行上述实施例执行的方法或者步骤。
可选地，若该装置位于车辆中，上述处理单元可以是图1所示的处理器151-15n。
本申请实施例还提供了一种车辆，该车辆可以包括上述智能窄道辅助系统600或者装置1100。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法。
本申请实施例还提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法。
在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者上电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
应理解，本申请实施例中，该存储器可以包括只读存储器和随机存取存储器，并向处理器提供指令和数据。
还应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖。在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (18)

  1. 一种窄道通行的方法，其特征在于，包括：
    在车辆驶入第一窄道时，获取所述第一窄道的环境信息；
    根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶之前，所述方法还包括：
    在所述车辆再一次驶入所述第一窄道时，提示用户自动通过所述第一窄道；
    其中，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶，包括：
    在检测到用户指示自动通过所述第一窄道的操作时，根据所述环境信息控制所述车辆自动通过所述第一窄道的全部路段。
  3. 根据权利要求1或2所述的方法，其特征在于，所述环境信息中包括第一会车点的位置，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶之前，所述方法还包括：
    检测到所述车辆与另一车辆在所述第一窄道的第一位置会车；
    在所述第一位置无法满足会车条件时，提示用户从所述车辆当前位置自动行驶至所述第一会车点的位置；
    其中，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶，包括：
    在检测到用户指示从所述当前位置自动行驶至所述第一会车点的位置的操作时，根据所述环境信息控制所述车辆从所述当前位置自动行驶至所述第一会车点的位置。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶之前，所述方法还包括：
    在所述车辆行驶至所述第一窄道的第二位置且检测到用户倒车的操作时，提示用户从所述第二位置自动倒车至第三位置；
    其中，所述根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶，包括：
    在检测到用户指示从所述第二位置自动倒车至所述第三位置的操作时，根据所述环境信息，控制所述车辆从所述第二位置自动倒车至所述第三位置。
  5. 根据权利要求4所述的方法，其特征在于，所述第三位置为所述窄道的起点位置或者所述第三位置为第二会车点的位置，所述环境信息中包括所述第二会车点的位置。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述获取所述第一窄道的环境信息之前，所述方法还包括：
    确定所述第一窄道为固定窄道。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括：
    在所述车辆前行通过所述第一窄道的过程中，显示所述车辆左侧前方和右侧前方的盲区图像；或者，
    在所述车辆倒车通过所述第一窄道的过程中，显示所述车辆左侧后方和右侧后方的盲区图像。
  8. 一种窄道通行的装置，其特征在于，包括：
    获取单元，用于在车辆驶入第一窄道时，获取所述第一窄道的环境信息；
    控制单元，用于根据所述环境信息，控制所述车辆在所述第一窄道的部分或者全部路段自动行驶。
  9. 根据权利要求8所述的装置，其特征在于，所述装置还包括第一提示单元和第一检测单元，
    所述第一提示单元，用于在所述车辆再一次驶入所述第一窄道时，提示用户自动通过所述第一窄道；
    其中，所述控制单元，用于：在所述第一检测单元检测到用户指示自动通过所述第一窄道的操作 时，根据所述环境信息控制所述车辆自动通过所述第一窄道的全部路段。
  10. 根据权利要求8或9所述的装置，其特征在于，所述环境信息中包括第一会车点的位置，所述装置还包括第二提示单元和第二检测单元，
    所述第二检测单元，用于检测到所述车辆与另一车辆在所述第一窄道的第一位置会车；
    所述第二提示单元，用于在所述第一位置无法满足会车条件时，提示用户从所述车辆当前位置自动行驶至所述第一会车点的位置；
    其中，所述控制单元，用于：在所述第二检测单元检测到用户指示从所述当前位置自动行驶至所述第一会车点的位置的操作时，根据所述环境信息，控制所述车辆从所述当前位置自动行驶至所述第一会车点的位置。
  11. 根据权利要求8至10中任一项所述的装置，其特征在于，所述装置还包括第三提示单元和第三检测单元，
    所述第三提示单元，用于在所述车辆行驶至所述第一窄道的第二位置且所述第三检测单元检测到用户倒车的操作时，提示用户从所述第二位置自动倒车至第三位置；
    其中，所述控制单元，用于：在所述第三检测单元检测到用户指示从所述第二位置自动倒车至所述第三位置的操作时，根据所述环境信息，控制所述车辆从所述第二位置自动倒车至所述第三位置。
  12. 根据权利要求11所述的装置，其特征在于，所述第三位置为所述窄道的起点位置或者所述第三位置为第二会车点的位置，所述环境信息中包括所述第二会车点的位置。
  13. 根据权利要求8至12中任一项所述的装置，其特征在于，所述装置还包括确定单元，所述方法还包括：
    所述确定单元，用于在所述获取单元获取所述第一窄道的环境信息之前，确定所述第一窄道为固定窄道。
  14. 根据权利要求8至13中任一项所述的装置，其特征在于，所述控制单元，还用于：
    在所述车辆前行通过所述第一窄道的过程中，控制车载显示屏显示所述车辆左侧前方和右侧前方的盲区图像；或者，
    在所述车辆倒车通过所述第一窄道的过程中，控制所述车载显示屏显示所述车辆左侧后方和右侧后方的盲区图像。
  15. 一种装置，其特征在于，所述装置包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述装置执行如权利要求1至7中任一项所述的方法。
  16. 一种车辆，其特征在于，包括权利要求8至15中任一项所述的装置。
  17. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被计算机执行时，以使得实现如权利要求1至7中任一项所述的方法。
  18. 一种芯片，其特征在于，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，以执行如权利要求1至7中任一项所述的方法。
PCT/CN2023/100497 2022-08-11 2023-06-15 一种窄道通行的方法、装置和车辆 Ceased WO2024032148A1 (zh)

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