CN112172820A - Vehicle autonomous backing method and system device in narrow space and computer readable storage medium - Google Patents

Vehicle autonomous backing method and system device in narrow space and computer readable storage medium Download PDF

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Publication number
CN112172820A
CN112172820A CN202011134307.2A CN202011134307A CN112172820A CN 112172820 A CN112172820 A CN 112172820A CN 202011134307 A CN202011134307 A CN 202011134307A CN 112172820 A CN112172820 A CN 112172820A
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vehicle
reversing
speed
autonomous
target vehicle
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CN202011134307.2A
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Chinese (zh)
Inventor
柯进益
卢至孟
林志聪
李达福
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Tung Thih Electron Xiamen Co Ltd
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Tung Thih Electron Xiamen Co Ltd
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Priority to CN202011134307.2A priority Critical patent/CN112172820A/en
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    • 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
    • B60W30/18036—Reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a vehicle autonomous reversing method, a system and a device in a narrow space, which control the reverse playback of a target vehicle on an original path by recording the speed of the target vehicle, the steering angle of a steering wheel and the obstacle information of the surrounding environment during the forward movement, realize the return of the original path, intelligently control and guide or autonomously complete the vehicle reversing control operation, ensure that a driver can complete the return without controlling the vehicle to turn around, and further improve the efficiency of the vehicle in the return; the safe and convenient automation of the vehicle is enabled to pass through the narrow road, the collision accident is avoided, and the driving experience comfort of the driver is further improved.

Description

Vehicle autonomous backing method and system device in narrow space and computer readable storage medium
Technical Field
The invention relates to the technical field of automatic control of automobiles, in particular to a method, a system and a device for autonomous reversing of a vehicle in a narrow space and a computer readable storage medium.
Background
In the daily driving process, due to the fact that vehicles approach narrow roads such as narrow lanes, isolation piers, parking lot entrances and exits, gardens and other complex scenes, surrounding low obstacles enter a visual field blind area, and the width of the roads is easy to judge by mistake, the driver is difficult to control and drive in a backing mode, the road width is not easy to respond, and the vehicle is easy to rub and scratch or even more serious accidents are easily caused. Although some vehicles introduce the assistance of a panoramic driving system and a collision avoidance early warning system at present, the assistance systems basically only perform simple feedback on the surrounding environment and cannot intelligently guide or autonomously complete vehicle control following reversing operation. The difficulty still generally exists in reversing in scenes with low speed and high maneuverability requirements (such as parking and narrow road sections). The visual field in the process of backing a car is small, and the visual field brings a lot of illusions and misjudgments, so that the driving feeling which is completely different from the driving feeling of forward driving is brought to a driver. Therefore, when a driver drives a car to pass through a road section with a complex scene, the driver returns to pass through the complex road section after turning around the adjusting direction, so that the driving efficiency and unnecessary energy consumption are reduced, and poor driving experience is brought.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a vehicle autonomous reversing method, a system, a device and a computer readable storage medium in a narrow space, which can autonomously control the vehicle to reverse, improve the driving efficiency of the vehicle in the return process, enable the vehicle to safely and conveniently pass through a narrow road automatically, avoid collision accidents and improve the driving experience and comfort of a driver.
In order to achieve the purpose, the invention adopts the technical scheme that:
a vehicle autonomous reversing method for a narrow space comprises the following steps:
s01, recording the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle at corresponding moments at certain time intervals delta T in the forward running process of the target vehicle on a narrow road;
s02, after the vehicle stops advancing, if an autonomous backing-up instruction for the target vehicle is detected, controlling the target vehicle to start backing up from the current position;
at each reversing time, the reversing is played back in a reverse order according to the speed and the steering wheel angle of the corresponding time recorded during forward driving, the steering wheel angle of the vehicle is corrected according to the matching of the peripheral environment information of the current reversing vehicle and the obstacle information of the recorded forward peripheral environment, the speed and the steering wheel angle of the target vehicle are controlled and corrected in real time, the target vehicle is driven to return in the reverse direction on the original road, and the autonomous reversing is realized;
and S03, in the process of autonomous reversing, if an autonomous reversing stop instruction for the target vehicle is detected, controlling the target vehicle to stop and quit the system, and taking over the vehicle by a driver.
The step S01 includes:
every time delta T time passes, at each advancing moment, the Speed of the vehicle, the corresponding steering wheel angle Ang and the obstacle information Obj of the surrounding environment at the moment are recorded, and the time T is counted from T0Position start recording to the time t when the target vehicle stops moving forwardnEnding, characterized by a matrix: t is t0(Speed0，Ang0，Obj0)→t1(Speed1，Ang1，Obj1)→t2(Speed2，Ang2，Obj2)…→tn(Speedn，Angn，Objn)。
The step S02 includes:
and backing the target vehicle from the current stop forward position, and playing back the target vehicle in a reverse order according to the speed and the steering wheel rotation angle of the corresponding moment recorded during forward running: t is tn(Speedn，Angn，Objn)→tn-1(Speedn-1，Angn-1，Objn-1)…→t2(Speed2，Ang2，Obj2)→t1(Speed1，Ang1，Obj1)→t0(Speed0，Ang0，Obj0)。
A narrow space vehicle autonomous reversing system, comprising:
the recording module is used for recording the speed of the target vehicle, the steering wheel angle and the obstacle information of the surrounding environment at corresponding moment at a certain time interval delta T in the advancing process of the target vehicle;
the motion control module is used for controlling the speed and the steering wheel angle of the target vehicle to play back in a reverse order according to the recorded vehicle speed and the corresponding steering wheel angle when the vehicle moves forwards and controlling the vehicle to move backwards according to the current peripheral environment information of the adjusted vehicle and the obstacle information of the recorded peripheral environment from the reversing starting position in the autonomous reversing process;
and the reversing stop control module is used for controlling the target vehicle to stop and exit if a reversing stop instruction for the target vehicle is detected in the autonomous reversing process, and a driver takes over the vehicle.
And the display control module is used for monitoring and displaying the surrounding environment of the vehicle and relevant output feedback and prompt information of the vehicle in real time in the autonomous reversing process, and touching an instruction switch of the touch screen control system.
An autonomous reversing device of a vehicle in a narrow space, comprising: the system comprises a processor, a memory, an arithmetic unit, a controller, a display and a system bus;
the processor, the arithmetic unit, the controller, the display and the memory are connected through the system bus;
the memory is a device for storing data and various software programs in the processor;
the memory is for storing one or more software programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the autonomous reverse method as described above.
The operator is an arithmetic logic unit, and is used for completing the arithmetic operation and the logic operation in the autonomous reversing method.
A computer readable storage medium storing instructions that, when run on a terminal device, cause the terminal device to perform an autonomous reversing method as described above.
A computer software program product which, when run on a terminal device, causes the terminal device to perform the autonomous reversing method as described above.
By adopting the scheme, the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle at the corresponding moment are recorded at a certain time interval delta T in the process of controlling the target vehicle to move forwards in a narrow space; and when autonomous reverse driving is carried out, the speed and the steering wheel angle of the corresponding moment recorded during forward driving are played back in a reverse sequence, the steering wheel angle of the vehicle is corrected according to the matching of the peripheral environment information of the current backward vehicle and the obstacle information of the recorded forward peripheral environment, and the speed and the steering wheel angle of the target vehicle are controlled and corrected in real time to enable the target vehicle to return to the backward driving on the original road. Therefore, the invention can control the target vehicle to play back in reverse order on the original path based on the speed of the target vehicle, the steering wheel angle and the obstacle information of the surrounding environment recorded during the forward process, thereby realizing the return of the original path. The intelligent control guides or autonomously finishes the vehicle reversing control operation, so that a driver can finish the return trip without controlling the vehicle to turn around, thereby improving the efficiency of the vehicle in the return trip; the safe and convenient automation of the vehicle is enabled to pass through the narrow road, the collision accident is avoided, and the driving experience comfort of the driver is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic flow chart of a method for autonomous reversing a vehicle in a narrow space according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of recording the speed, steering wheel angle and obstacle information of the surrounding environment of a vehicle in real time during forward driving according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an autonomous reverse function triggering manner according to an embodiment of the present invention;
fig. 4 is a schematic diagram of reverse playback in autonomous reverse provided by an embodiment of the present invention;
fig. 5 is a schematic view of an autonomous reverse driving steering wheel turning angle provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a target vehicle encountering an obstacle during autonomous reverse driving according to an embodiment of the present invention;
fig. 7 is a schematic composition diagram of an autonomous reversing device for a vehicle in a narrow space according to an embodiment of the present invention.
Detailed Description
As shown in FIG. 1, the invention discloses a vehicle autonomous reversing method in a narrow space, which comprises the following steps:
and S01, recording the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle at corresponding moment at a certain time interval delta T in the process of forward running of the target vehicle on a narrow road.
In the present embodiment, any vehicle that implements autonomous reverse by using the present embodiment is defined as a target vehicle. During the forward driving of the target vehicle, the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle can be detected in real time and stored in the local database of the target vehicle, so that the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle at each interval of forward movement are recorded, as shown in fig. 2.
Figure BDA0002736164070000061
Referring to the above table, it can be understood that the time interval Δ T is constant, and the Speed of the current vehicle, the corresponding steering wheel angle Ang, and the obstacle information Obj of the surrounding environment are recorded at each time. From t0Position start recording, characterized by matrix: t is t0(Speed0，Ang0，Obj0)→t1(Speed1，Ang1，Obj1)→t2(Speed2，Ang2，Obj2)…→tn(Speedn，Angn，Objn). If the speed of the vehicle and the corresponding steering wheel angle information are infinitely recorded, the information will be transmittedSo that the storage space of the local database is fully occupied. Therefore, in order to save the storage space of the local database and to take into account that the driver usually performs the reverse operation in the vicinity of the vehicle, only the vehicle position information detected during the last forward driving time period, such as only the speed of the vehicle and the corresponding steering wheel angle information detected during the last hour, may be stored in the local database, or the recorded time interval Δ T may be increased.
And S02, after the vehicle stops advancing, if the autonomous reversing instruction of the target vehicle is detected, controlling the target vehicle to start reversing from the current position. And at each reversing time, the reversing is played back in a reverse order according to the speed and the steering wheel angle of the corresponding time recorded during forward driving, the steering wheel angle of the vehicle is corrected according to the matching of the peripheral environment information of the current reversing vehicle and the obstacle information of the recorded forward peripheral environment, the speed and the steering wheel angle of the target vehicle are controlled and corrected in real time, the target vehicle is driven to return in the reverse direction on the original road, and the autonomous reversing is realized.
The embodiment does not limit the triggering mode of the autonomous reverse instruction. For example, an autonomous reverse button may be provided on a vehicle control panel of the target vehicle, and an autonomous reverse command to the target vehicle may be triggered if a driver presses the autonomous reverse button while the vehicle is in a stopped state, or after the driver puts in a reverse gear and presses the autonomous reverse button. Or a touch-control triggering mode of the display screen, as shown in fig. 3. And if the HMI touches an activation button of the control system, the system starts to autonomously control the steering wheel, the steering angle, the gear, the brake and the accelerator of the target vehicle, corrects the steering wheel steering angle of the target vehicle in real time and autonomously backs up the vehicle.
In general, when an autonomous reverse command is triggered, the current position of the target vehicle, i.e., the autonomous reverse start position, is usually the end position during forward driving.
It can be understood that, as shown in fig. 4, during autonomous reverse, the speed and steering wheel of the target vehicle are started from the reverse start position according to the current surrounding environment information of the vehicle and the obstacle information recording the surrounding environmentReverse playback t of steering angle according to recorded vehicle speed and corresponding steering wheel steering angle when vehicle is moving forwardn(Speedn，Angn，Objn)→tn-1(Speedn-1，Angn-1，Objn-1)…→t2(Speed2，Ang2，Obj2)→t1(Speed1，Ang1，Obj1)→t0(Speed0，Ang0，Obj0) And autonomously controlling the vehicle to run backwards.
Further, as shown in fig. 5, during the autonomous reverse of the vehicle, if the vehicle deviates from the original forward running track, the steering wheel angle of the vehicle is corrected according to the matching between the current ambient environment information of the reverse vehicle and the obstacle information recording the forward ambient environment, and the target vehicle is controlled and corrected to run back in real time.
And S03, in the process of autonomous reversing, if an autonomous reversing stop instruction for the target vehicle is detected, controlling the target vehicle to stop and quit the system, and taking over the vehicle by a driver.
The embodiment does not limit the triggering mode of the autonomous reverse stopping instruction. For example, an autonomous reverse stop button may be provided on a vehicle control panel of the target vehicle. In the autonomous reversing process, if the driver presses the autonomous reversing stop button, an autonomous reversing stop instruction for the target vehicle is triggered. For another example, before triggering the autonomous reversing stop instruction, the driver or the autonomous reversing system may preset an autonomous reversing length (for example, 50 meters), and during the autonomous reversing, the actual autonomous reversing length is accumulated in real time, and when the actual autonomous reversing length is accumulated to the preset autonomous reversing length, the autonomous reversing system automatically triggers the autonomous reversing stop instruction; or the driver or the autonomous reversing system presets autonomous driving time, actual autonomous reversing time is accumulated in real time in the autonomous reversing process, and when the preset autonomous reversing time is accumulated, the autonomous reversing system automatically triggers the autonomous reversing stop instruction.
Further, in the autonomous backing process of the target vehicle, if non-fixed obstacles such as moving pedestrians and vehicles are encountered, the target vehicle waits to exit the autonomous backing; or the user intervenes to take over the vehicle for the gear, the steering wheel and the EPB of the target vehicle, quits the autonomous reversing, requests the parking and takes over the vehicle by the driver. Or the vehicle body system is in fault or the associated system is detected to be in fault, the autonomous backing is quitted, the parking is requested, and the driver takes over the vehicle; or vehicle faults (such as communication faults of associated parts, failure of EPS or ESP handshake and the like), and the autonomous reversing system exits; or when the vehicle arrives at the destination, the autonomous reversing system quits and the driver takes over the vehicle; or the safety belt of the vehicle is opened, the door of the vehicle is opened, the back door of the vehicle is opened, the rearview mirror is folded, and the autonomous reversing system is withdrawn.
Further, in the autonomous reversing process of the vehicle, if the vehicle encounters an unfixed obstacle such as a pedestrian and a vehicle and has a collision risk, the system automatically executes an emergency braking measure to quickly complete the braking and stopping of the vehicle. As shown in fig. 6, if the obstacle has not left, the vehicle waits for exit, and the driver takes over the vehicle. If the obstacle is removed within the waiting time, the target vehicle continues to complete the subsequent playback.
Based on the same inventive concept, the invention also discloses a composition schematic diagram of the vehicle autonomous reversing device in the narrow space, as shown in fig. 7, the autonomous reversing device comprises:
the recording module 701 is configured to record, at a certain time interval Δ T (e.g., 10ms) during a forward process of a target vehicle, obstacle information of a speed, a steering wheel angle, and a surrounding environment of the target vehicle at a corresponding time.
And the motion control module 702 is configured to, in an autonomous reversing process, control, starting from a reversing start position, the speed and the steering wheel angle of the target vehicle to be played back in reverse order according to the recorded vehicle speed and the corresponding steering wheel angle when the vehicle moves forward and according to the current peripheral environment information of the adjusted vehicle and the obstacle information of the recorded peripheral environment, and control the vehicle to travel backward.
And a reverse stopping control module 703, configured to, in an autonomous reverse process, control the target vehicle to stop and exit if a reverse stopping instruction for the target vehicle is detected, and take over the vehicle by a driver.
And the display control module 704 is used for monitoring and displaying the surrounding environment of the vehicle and relevant information of the vehicle in real time and touching a touch screen control system instruction in the autonomous reversing process.
In addition, the invention also discloses an autonomous reversing device in a narrow space, which comprises: the system comprises a processor, a memory, an arithmetic unit, a controller, a display and a system bus, wherein the processor, the arithmetic unit, the controller, the display and the memory are connected through the system bus; the memory is a device for storing data and various software programs in the processor.
The memory is used for storing one or more software programs, the one or more software programs comprising instructions, which when executed by the processor, cause the processor to perform the above-mentioned autonomous reversing method.
The arithmetic unit is an arithmetic logic unit and is used for finishing the arithmetic operation and the logic operation in the autonomous reversing method.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, and when the instructions are run on the terminal equipment, the terminal equipment is enabled to execute the autonomous reversing method.
Furthermore, the invention also provides a computer software program product, and when the computer software program product runs on the terminal equipment, the terminal equipment is enabled to execute the autonomous reversing method.
In summary, in the method for autonomous reversing of a vehicle in a narrow space provided by this embodiment, in a narrow road and during forward running of a target vehicle, the speed of the target vehicle, the steering wheel angle, and obstacle information of a surrounding environment at a corresponding moment are recorded at a certain interval of Δ T; after the vehicle stops advancing, if an autonomous backing-up instruction for the target vehicle is detected, the target vehicle is controlled to start backing-up from the current position. At each reversing time, the reversing is played back in a reverse order according to the speed and the steering wheel angle of the corresponding time recorded during forward driving, the steering wheel angle of the vehicle is corrected according to the matching of the peripheral environment information of the current reversing vehicle and the obstacle information of the recorded forward peripheral environment, the speed and the steering wheel angle of the target vehicle are controlled and corrected in real time, the target vehicle is driven to return in the reverse direction on the original road, and the autonomous reversing is realized; in the autonomous reversing process, if an autonomous reversing stop instruction for the target vehicle is detected, the target vehicle is controlled to stop and quit the system, and a driver takes over the vehicle. Therefore, the invention can control the target vehicle to play back in reverse order on the original path based on the speed of the target vehicle, the steering wheel angle and the obstacle information of the surrounding environment recorded during the forward process, thereby realizing the return of the original path. The intelligent control guides or autonomously finishes the vehicle reversing control operation, so that a driver can finish the return trip without controlling the vehicle to turn around, thereby improving the efficiency of the vehicle in the return trip; the safe and convenient automation of the vehicle is enabled to pass through the narrow road, the collision accident is avoided, and the driving experience comfort of the driver is further improved.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Claims (7)

1. A vehicle autonomous backing method in a narrow space is characterized in that: the method comprises the following steps:
s01, recording the speed, the steering wheel angle and the obstacle information of the surrounding environment of the target vehicle at corresponding moments at certain time intervals delta T in the forward running process of the target vehicle on a narrow road;
s02, after the vehicle stops advancing, if an autonomous backing-up instruction for the target vehicle is detected, controlling the target vehicle to start backing up from the current position;
at each reversing time, the reversing is played back in a reverse order according to the speed and the steering wheel angle of the corresponding time recorded during forward driving, the steering wheel angle of the vehicle is corrected according to the matching of the peripheral environment information of the current reversing vehicle and the obstacle information of the recorded forward peripheral environment, the speed and the steering wheel angle of the target vehicle are controlled and corrected in real time, the target vehicle is driven to return in the reverse direction on the original road, and the autonomous reversing is realized;
and S03, in the process of autonomous reversing, if an autonomous reversing stop instruction for the target vehicle is detected, controlling the target vehicle to stop and quit the system, and taking over the vehicle by a driver.
2. The method for autonomous reversing of a vehicle in a narrow space according to claim 1, wherein: the step S01 includes:
every time delta T time passes, at each advancing moment, the Speed of the vehicle, the corresponding steering wheel angle Ang and the obstacle information Obj of the surrounding environment at the moment are recorded, and the time T is counted from T0Position start recording to the time t when the target vehicle stops moving forwardnEnding, characterized by a matrix: t is t0(Speed0，Ang0，Obj0)→t1(Speed1，Ang1，Obj1)→t2(Speed2，Ang2，Obj2)…→tn(Speedn，Angn，Objn)。
3. The narrow space autonomous vehicle reversing method according to claim 2, characterized in that: the step S02 includes:
and backing the target vehicle from the current stop forward position, and playing back the target vehicle in a reverse order according to the speed and the steering wheel rotation angle of the corresponding moment recorded during forward running: t is tn(Speedn，Angn，Objn)→tn-1(Speedn-1，Angn-1，Objn-1)…→t2(Speed2，Ang2，Obj2)→t1(Speed1，Ang1，Obj1)→t0(Speed0，Ang0，Obj0)。
4. The utility model provides a vehicle autonomous reversing system in narrow space which characterized in that: the system comprises:
the recording module is used for recording the speed of the target vehicle, the steering wheel angle and the obstacle information of the surrounding environment at corresponding moment at a certain time interval delta T in the advancing process of the target vehicle;
the motion control module is used for controlling the speed and the steering wheel angle of the target vehicle to play back in a reverse order according to the recorded vehicle speed and the corresponding steering wheel angle when the vehicle moves forwards and controlling the vehicle to move backwards according to the current peripheral environment information of the adjusted vehicle and the obstacle information of the recorded peripheral environment from the reversing starting position in the autonomous reversing process;
and the reversing stop control module is used for controlling the target vehicle to stop and exit if a reversing stop instruction for the target vehicle is detected in the autonomous reversing process, and a driver takes over the vehicle.
And the display control module is used for monitoring and displaying the surrounding environment of the vehicle and relevant output feedback and prompt information of the vehicle in real time in the autonomous reversing process, and touching an instruction switch of the touch screen control system.
5. The utility model provides a vehicle of narrow space is device of backing a car independently which characterized in that: the device comprises: the system comprises a processor, a memory, an arithmetic unit, a controller, a display and a system bus;
the processor, the arithmetic unit, the controller, the display and the memory are connected through the system bus;
the memory is a device for storing data and various software programs in the processor;
the memory is to store one or more software programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the autonomous reverse method of any of claims 1-3.
The operator is an arithmetic logic unit for performing arithmetic operations and logic operations in the autonomous reversing method according to any of claims 1 to 3.
6. A computer-readable storage medium characterized by: the computer readable storage medium has stored therein instructions that, when run on a terminal device, cause the terminal device to perform the method of autonomous reversing as claimed in any of claims 1-3.
7. A computer software program product, characterized in that: the computer software program product, when run on a terminal device, causes the terminal device to perform the autonomous reversing method according to any of claims 1-3.
CN202011134307.2A 2020-10-21 2020-10-21 Vehicle autonomous backing method and system device in narrow space and computer readable storage medium Pending CN112172820A (en)

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CN113071516A (en) * 2021-04-12 2021-07-06 同致电子科技（厦门）有限公司 Narrow space vehicle autonomous advancing method, device and system
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