CN118124579A - Method and device for tracking and reversing vehicle, vehicle and storage medium - Google Patents
Method and device for tracking and reversing vehicle, vehicle and storage medium Download PDFInfo
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Abstract
The application discloses a vehicle tracking reversing method, a vehicle tracking reversing device, a vehicle and a storage medium, wherein the method comprises the following steps: detecting whether the vehicle is in a preset tracking reversing working condition; under the condition that the vehicle is detected to be in a preset tracking reversing working condition, controlling the vehicle to enter a path memory mode so as to obtain a transverse coordinate, a longitudinal coordinate and a yaw angle which are memorized by the vehicle, thus obtaining a target running track of the vehicle, and under the condition that the vehicle meets the preset tracking reversing condition, carrying out reverse processing on the target running track to obtain a tracking target track, so as to control the vehicle to execute tracking reversing action according to the tracking target track and a target front wheel steering angle of the vehicle. According to the embodiment of the application, the target running track of the vehicle can be obtained based on the transverse coordinates, the longitudinal coordinates and the yaw angle memorized by the vehicle, the target running track of the vehicle is obtained, the tracking target track is obtained, the vehicle is controlled to track and reverse with the target front wheel steering angle of the vehicle, the flexibility of tracking and reversing the vehicle is effectively improved, and the driving requirement of a user is met.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and apparatus for tracking and reversing a vehicle, and a storage medium.
Background
Along with the development of the intellectualization and networking of automobiles, the auxiliary driving technology enters a rapid development stage, a plurality of narrow road conditions exist in the daily driving process of a driver, and the difficulty is increased for the operation of the driver in the reversing driving process of the narrow road conditions, wherein the tracking reversing (also called primary reversing) function can be realized in a narrow space, and the reversing and the returning of the vehicle along the original path can be realized when the driver drives on the narrow road and needs to turn around and return.
In the related art, a plurality of coordinate positions of a vehicle are obtained by identifying the coordinate positions corresponding to a plurality of speed pulse signals of the vehicle, and vehicle paths corresponding to the plurality of coordinate positions are calculated through a preset path tracking algorithm, so that the vehicle is controlled to track and reverse according to the vehicle paths, and the vehicle is reversed and returned along the original path.
However, in the related art, the vehicle tracking and reversing is controlled only through the vehicle paths corresponding to the plurality of coordinate positions, so that the flexibility of the vehicle tracking and reversing is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met, so that the problem is to be solved.
Disclosure of Invention
The application provides a vehicle tracking reversing method, a vehicle reversing device, a vehicle and a storage medium, which are used for solving the problems that in the related art, the vehicle tracking reversing is controlled only through a vehicle path corresponding to a plurality of coordinate positions, so that the flexibility of the vehicle tracking reversing is low, the practicability and the reliability of the vehicle tracking reversing are reduced, and the use requirements of users on various special scenes cannot be met.
An embodiment of a first aspect of the present application provides a method for tracking and reversing a vehicle, including the steps of: detecting whether the vehicle is in a preset tracking reversing working condition; controlling the vehicle to enter a path memory mode under the condition that the vehicle is detected to be in the preset tracking reversing working condition so as to obtain a transverse coordinate, a longitudinal coordinate and a transverse swing angle memorized by the vehicle; and obtaining a target running track of the vehicle according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and carrying out reverse processing on the target running track under the condition that the vehicle meets the preset tracking reversing condition to obtain a tracking target track so as to control the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
According to the technical scheme, the target running track of the vehicle can be obtained based on the transverse coordinates, the longitudinal coordinates and the yaw angle memorized by the vehicle, the target running track of the vehicle is reversely processed, the tracking target track is obtained, the tracking reversing is controlled by controlling the vehicle with the target front wheel steering angle of the vehicle, the flexibility of the tracking reversing of the vehicle is effectively improved, and the use requirements of users on various special scenes are met.
Optionally, in one embodiment of the present application, before detecting whether the vehicle is in the preset tracking and reversing operation, the method further includes: acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear; judging whether the actual vehicle speed is smaller than a first preset vehicle speed or not; and if the actual vehicle speed is smaller than the first preset vehicle speed, controlling the vehicle to enter the preset tracking reversing working condition, otherwise, not entering the preset tracking reversing working condition.
Through the technical scheme, the vehicle can be controlled to enter the tracking and reversing working condition under the condition that the actual speed of the vehicle is smaller than the first preset speed, otherwise, the vehicle does not enter the tracking and reversing working condition, and the accuracy and safety of the vehicle tracking and reversing are improved.
Optionally, in one embodiment of the present application, after obtaining the target running track of the vehicle, the method further includes: detecting whether the actual speed of the vehicle is smaller than a second preset speed; and under the condition that the actual vehicle speed is detected to be smaller than the second preset vehicle speed, collecting the continuous running distance of the vehicle, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches a preset final distance and the vehicle is switched to a reversing gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
Through the technical scheme, when the fact that the actual vehicle speed is smaller than the second preset vehicle speed and the continuous running distance of the vehicle reaches the final distance is detected, and the vehicle is switched to the reverse gear, the fact that the vehicle meets the tracking reversing condition is judged, and the flexibility and reliability of tracking reversing of the vehicle are effectively improved.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the tracking and reversing actions according to the tracking target track and the target front wheel steering angle of the vehicle, the method further includes: detecting whether a current road of the vehicle meets a preset narrow condition or not; if the current road meets the preset narrow condition, controlling the vehicle to continue to execute the tracking reversing action; and if the current road does not meet the preset narrow condition, controlling the vehicle to exit the tracking reversing action.
Through the technical scheme, whether the current road of the vehicle meets the narrow condition can be detected, so that whether the vehicle exits the tracking reversing action is determined, the flexibility of tracking reversing of the vehicle is effectively improved, and the use requirement of a user on a narrow road scene is met.
Optionally, in one embodiment of the present application, further includes: receiving a tracking reversing instruction of a user; and responding to the tracking reversing instruction, and reversely processing the target running track to obtain a tracking target track so as to control the vehicle to execute reversing action according to the tracking target track and the target front wheel steering angle.
Through the technical scheme, the tracking reversing instruction of the user can be received and responded, and the reversing action of the vehicle is controlled to be executed according to the tracking reversing instruction, so that the interactivity of the vehicle is effectively improved.
An embodiment of a second aspect of the present application provides a device for tracking and reversing a vehicle, including: the first detection module is used for detecting whether the vehicle is in a preset tracking and reversing working condition or not; the determining module is used for controlling the vehicle to enter a path memory mode under the condition that the vehicle is detected to be in the preset tracking reversing working condition so as to obtain a transverse coordinate, a longitudinal coordinate and a transverse swing angle memorized by the vehicle; the control module is used for obtaining a target running track of the vehicle according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and carrying out reverse processing on the target running track to obtain a tracking target track under the condition that the vehicle meets the preset tracking reversing condition so as to control the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
According to the technical scheme, the target running track of the vehicle can be obtained based on the transverse coordinates, the longitudinal coordinates and the yaw angle memorized by the vehicle, the target running track of the vehicle is reversely processed, the tracking target track is obtained, the tracking reversing is controlled by controlling the vehicle with the target front wheel steering angle of the vehicle, the flexibility of the tracking reversing of the vehicle is effectively improved, and the use requirements of users on various special scenes are met.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the acquisition module is used for acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear before detecting whether the vehicle is in a preset tracking reversing working condition; the judging module is used for judging whether the actual vehicle speed is smaller than a first preset vehicle speed before detecting whether the vehicle is in a preset tracking reversing working condition or not; the first processing module is used for controlling the vehicle to enter the preset tracking reversing working condition if the actual vehicle speed is smaller than the first preset vehicle speed before detecting whether the vehicle is in the preset tracking reversing working condition, or else, the vehicle does not enter the preset tracking reversing working condition.
Through the technical scheme, the vehicle tracking reversing device can control the vehicle to enter the tracking reversing working condition under the condition that the actual speed of the vehicle is smaller than the first preset speed, otherwise, the vehicle does not enter the tracking reversing working condition, and accuracy and safety of vehicle tracking reversing are improved.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the second detection module is used for detecting whether the actual speed of the vehicle is smaller than a second preset speed after the target running track of the vehicle is obtained; and the second processing module is used for acquiring the continuous running distance of the vehicle under the condition that the actual vehicle speed is detected to be smaller than the second preset vehicle speed after the target running track of the vehicle is obtained, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches the preset final distance and the vehicle is switched to the reverse gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
Through the technical scheme, the vehicle tracking reversing device can judge that the vehicle meets the tracking reversing condition when detecting that the actual vehicle speed is smaller than the second preset vehicle speed and the continuous running distance of the vehicle reaches the final distance and the vehicle is switched to the reversing gear, so that the flexibility and the reliability of vehicle tracking reversing are effectively improved.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the third detection module is used for detecting whether the current road of the vehicle meets a preset narrow condition or not after the vehicle is controlled to execute tracking and reversing actions according to the tracking target track and the target front wheel steering angle of the vehicle; the third processing module is used for controlling the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle, and if the current road meets the preset narrow condition, controlling the vehicle to continue executing the tracking reversing action; and the fourth processing module is used for controlling the vehicle to exit the tracking reversing action if the current road does not meet the preset narrow condition after controlling the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
Through the technical scheme, the vehicle tracking reversing device can detect whether the current road of the vehicle meets the narrow condition or not, so that whether the vehicle exits the tracking reversing action or not is determined, the flexibility of tracking reversing of the vehicle is effectively improved, and the use requirement of a user on a narrow road scene is met.
Optionally, in an embodiment of the present application, the apparatus of the embodiment of the present application further includes: the receiving module is used for receiving a tracking reversing instruction of a user; and the control module is used for responding to the tracking reversing instruction, carrying out reverse processing on the target running track to obtain a tracking target track, and controlling the vehicle to execute reversing action according to the tracking target track and the target front wheel steering angle.
Through the technical scheme, the vehicle tracking reversing device can receive and respond to the tracking reversing instruction of the user, and control the vehicle to execute reversing action according to the tracking reversing instruction, so that the interactivity of the vehicle is effectively improved.
An embodiment of a third aspect of the present application provides a vehicle including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle tracking and reversing method according to the embodiment.
A fourth aspect of the present application provides a computer readable storage medium storing a computer program which when executed by a processor performs a method of tracking and reversing a vehicle as above.
A fifth aspect of the present application provides a computer program which, when executed, is adapted to carry out a method of tracking and reversing a vehicle as hereinbefore described.
According to the embodiment of the application, under the condition that the vehicle is detected to be in the tracking and reversing working condition, the vehicle is controlled to enter a path memory mode so as to obtain the transverse coordinate, the longitudinal coordinate and the yaw angle memorized by the vehicle, so that the target running track of the vehicle is obtained, and under the condition that the vehicle meets the tracking and reversing condition, the tracking target track is obtained, so that the vehicle is controlled to execute the tracking and reversing action according to the tracking target track and the target front wheel steering angle of the vehicle, the flexibility of the vehicle in tracking and reversing is effectively improved, and the use requirements of users on various special scenes are met. Therefore, the problems that in the related art, the vehicle tracking and reversing are controlled only through the vehicle paths corresponding to the coordinate positions, so that the flexibility of the vehicle tracking and reversing is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method for tracking and reversing a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of tracking and reversing a vehicle in accordance with one embodiment of the present application;
fig. 3 is a schematic structural diagram of a device for tracking and reversing a vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a method, a device, a vehicle and a storage medium for tracking and reversing a vehicle according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that in the related art mentioned in the background technology center, the vehicle tracking reversing is controlled only through the vehicle paths corresponding to a plurality of coordinate positions, so that the flexibility of the vehicle tracking reversing is low, the practicability and reliability of the vehicle tracking reversing are reduced, and the use requirements of users for various special scenes cannot be met. Therefore, the problems that in the related art, the vehicle tracking and reversing are controlled only through the vehicle paths corresponding to the coordinate positions, so that the flexibility of the vehicle tracking and reversing is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met are solved.
The traditional vehicle obtains a plurality of coordinate positions of the vehicle by identifying the coordinate positions corresponding to a plurality of speed pulse signals of the vehicle, calculates vehicle paths corresponding to the plurality of coordinate positions through a preset path tracking algorithm, and controls the vehicle to track and back according to the vehicle paths, so that the vehicle can back along the original path, but the path range of the vehicle for tracking and back cannot be controlled, and the vehicle cannot be controlled longitudinally independently during tracking and back.
Therefore, in the related art, the vehicle tracking and reversing are controlled only through the vehicle paths corresponding to the plurality of coordinate positions, so that the vehicle tracking and reversing flexibility is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met, so that the problem is to be solved.
Specifically, fig. 1 is a schematic flow chart of a method for tracking and reversing a vehicle according to an embodiment of the present application.
As shown in fig. 1, the method for tracking and reversing the vehicle comprises the following steps:
in step S101, it is detected whether the vehicle is in a preset tracking and reversing condition.
It can be understood that the embodiment of the application can detect whether the vehicle is in the tracking and reversing working condition, wherein when the vehicle is in the tracking and reversing working condition, the running track of the vehicle can be recorded so as to track and reverse according to the running track of the vehicle, and when the vehicle is not in the tracking and reversing working condition, the vehicle is continuously detected, so that the tracking and reversing executable of the vehicle is effectively improved.
In step S102, when it is detected that the vehicle is in the preset tracking and reversing working condition, the vehicle is controlled to enter a path memory mode, so as to obtain the transverse coordinates, the longitudinal coordinates and the yaw angle memorized by the vehicle.
It CAN be understood that in the embodiment of the application, when the vehicle is detected to be in the tracking and reversing working condition, the vehicle CAN be controlled to enter the path memory mode, for example, after the vehicle enters the tracking and reversing working condition, the tracking and reversing switch ON the vehicle central control screen is set ON, the tracking and reversing function self-checking is started, after the self-checking has no fault, the vehicle CAN be controlled to enter the path memory mode, and the transverse coordinate, the longitudinal coordinate and the transverse swing angle of the vehicle CAN be obtained through the CAN bus, so that the safety and the reliability of the tracking and reversing of the vehicle are effectively improved.
In step S103, a target running track of the vehicle is obtained according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and the target running track is reversely processed to obtain a tracking target track when the vehicle meets a preset tracking reversing condition, so as to control the vehicle to execute a tracking reversing action according to the tracking target track and a target front wheel steering angle of the vehicle.
In the embodiment of the application, the preset tracking reversing condition is a condition that the vehicle starts tracking reversing, and the vehicle can execute the tracking reversing action after the tracking reversing condition is met.
It can be understood that the embodiment of the application can obtain the target running track of the vehicle according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and reversely process the target running track to obtain the tracking target track under the condition that the vehicle meets the tracking reversing condition, so that the vehicle can be controlled to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle in the following steps, the flexibility of the vehicle in tracking reversing is effectively improved, and the use requirements of users on various special scenes are met.
In addition, in the tracking reversing process, if the actual vehicle speed is greater than a certain vehicle speed, for example, greater than 15km/h, the tracking reversing action is stopped, and a voice prompt of 'the vehicle speed is too fast and the vehicle is slowly slowed down' is sent out so as to improve the stability of the tracking reversing of the vehicle.
For example, the embodiment of the application can perform path tracking transverse control to output a target front wheel angle, and send the target front wheel angle to an EPS (Electric Power Steering, electric power steering system) to give an instruction, wherein the target front wheel angle in the embodiment of the application adopts an LQR (Linear Quadratic Regulator ) design, and the specific method is as follows:
First, the embodiment of the application can calculate the derivative of the track offset of the automobile, namely:
Wherein x and y are respectively the transverse coordinate and the longitudinal coordinate of the mass center of the vehicle under the vehicle body coordinate system, θ is the yaw angle of the vehicle, and ζ is the heading angle of the vehicle body.
Making heading error:
eθ＝θ-ξ
wherein e θ is heading error.
Next, a state quantity of the target front wheel steering angle control system is selected:
Selecting a control amount of a target front wheel steering angle control system:
u(t)＝[δf]
The state space equation of the target front wheel steering angle control system is:
Wherein A (t), B (t) and C (t) are coefficient matrixes, e (t) is a state quantity, u (t) is a control quantity, And the target course angle change rate at the moment t.
Discretizing the state space equation of the target front wheel steering angle control system, and performing partial neglect term to obtain the following steps:
e(k+1)＝A(k)e(k)+B(k)u(k)
Then, an objective function is designed:
wherein Q is a state quantity weight matrix, R is a control quantity weight matrix, e (k) is a system state quantity in a discrete state, and u (k) is a system control quantity in a discrete state.
In order to stabilize the target front wheel steering angle control system,The calculated front wheel steering angle control amount is:
Wherein a and b are distances from the centroid to the front axle and the rear axle respectively, C f and C r are front axle and rear axle cornering stiffness respectively, v x is longitudinal vehicle speed, and m is vehicle mass.
For another example, the vehicle longitudinal control may be implemented by a vehicle own PID (proportional-integral-DERIVATIVE CONTROL), and the target accelerator pedal opening degree expression is:
Where K p is proportional gain, K i is integral gain, K d is differential gain, v 0 is a desired speed, and as a preferred option, v 0 may be 4km/h, v 0 is a target vehicle speed, and v (t) is an actual vehicle speed at time t.
Optionally, in one embodiment of the present application, before detecting whether the vehicle is in the preset tracking and reversing operation, the method further includes: acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear; judging whether the actual vehicle speed is smaller than a first preset vehicle speed or not; and if the actual vehicle speed is smaller than the first preset vehicle speed, controlling the vehicle to enter a preset tracking reversing working condition, otherwise, controlling the vehicle not to enter the preset tracking reversing working condition.
For example, when the vehicle is in a forward gear, i.e., in a D gear, and the actual vehicle speed of the vehicle is 35km/h, it may be determined that the actual vehicle speed is less than a first preset vehicle speed of 40km/h, so as to control the vehicle to enter a tracking and reversing working condition, and start recording the driving path of the vehicle; when the actual speed of the vehicle is 42km/h, the actual speed can be judged to be greater than the first preset speed of 40km/h, so that the vehicle does not enter the tracking reversing working condition, and the accuracy of tracking reversing of the vehicle is effectively improved.
In addition, when the actual speed of the vehicle is smaller than a first preset speed, for example, smaller than 40km/h, the vehicle enters a tracking and reversing working condition, the running path of the vehicle starts to be recorded, if the actual speed of the vehicle exceeds 45km/h in the running process, the recorded running path is cleared, and re-recording is performed when the actual speed is smaller than 40 km/h.
Optionally, in one embodiment of the present application, after obtaining the target running track of the vehicle, the method further includes: detecting whether the actual speed of the vehicle is smaller than a second preset speed; and under the condition that the actual vehicle speed is detected to be smaller than a second preset vehicle speed, collecting the continuous running distance of the vehicle, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches the preset final distance and the vehicle is switched to the reverse gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
In the embodiment of the present application, the preset final distance, that is, the distance of the last travel of the vehicle, for example, when the preset final distance is 60m, the embodiment of the present application may automatically record the travel track in the last 60m of the vehicle, where the preset final distance may be set by a person skilled in the art, and is not limited herein specifically.
For example, after the target running track of the vehicle is obtained, the embodiment of the application can detect the actual speed of the vehicle, when the actual speed of the vehicle is 8km/h and is smaller than the second preset speed of 10km/h, the continuous running distance of the vehicle is collected, when the continuous running distance of the vehicle reaches 60m, a voice prompt of whether to track and reverse is sent out, and the driver can return to yes and switch the vehicle to the reverse gear.
In addition, when the vehicle sends out a voice prompt of whether to carry out tracking and reversing, if the driver replies "not yes", or the driver does not reply within 3 seconds, the vehicle defaults to not carry out tracking and reversing, and the running track in the last 60m of the vehicle is updated in real time.
Optionally, in one embodiment of the present application, after controlling the vehicle to perform the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle, the method further includes: detecting whether a current road of a vehicle meets a preset narrow condition or not; if the current road meets the preset narrow condition, controlling the vehicle to continuously execute tracking reversing action; and if the current road does not meet the preset narrow condition, controlling the vehicle to exit the tracking reversing action.
In the embodiment of the application, the preset narrow condition is a condition that the actual distance between the left side or the right side of the vehicle and the target obstacle is smaller than a certain distance, and when the narrow condition is met, the vehicle can execute tracking and reversing actions.
For example, the embodiment of the application can detect whether the current road of the vehicle meets the narrow condition, if the current road meets the narrow condition, for example, when the left side of the vehicle is 0.5m away from the obstacle and the right side is 0.8m away from the obstacle, the vehicle is controlled to continue to execute the tracking reversing action, and in the tracking reversing process, if the actual distance between the left side and the right side of the vehicle and the target obstacle is gradually increased, for example, when the left side is 1.5m away from the obstacle and the right side is 2m away from the obstacle, the current road is judged to not meet the narrow condition, so that the vehicle is controlled to exit the tracking reversing action, the flexibility of the vehicle is effectively improved, and the use requirement of a user on a narrow road scene is met.
Optionally, in one embodiment of the present application, further includes: receiving a tracking reversing instruction of a user; and responding to the tracking reversing instruction, and reversely processing the target running track to obtain a tracking target track so as to control the vehicle to execute reversing action according to the tracking target track and the target front wheel steering angle.
In some embodiments, the embodiments of the present application may receive a tracking and reversing instruction of a user, for example, a driver may send a tracking and reversing instruction through a physical key, or may send a voice instruction of "XX car, turn on tracking and reversing", after the vehicle receives the tracking and reversing instruction of the driver, the vehicle may respond to the tracking and reversing instruction, and when the vehicle is a reverse gear, the embodiments of the present application may reverse the running track of 60m that the vehicle last runs, obtain a tracking target track, control the vehicle to perform the tracking and reversing action, and promote the interactivity of the vehicle, so that the tracking and reversing of the vehicle is not limited to a narrow road section, and effectively promote the applicability of the tracking and reversing of the vehicle.
For example, as shown in fig. 2, the working principle of the embodiment of the present application will be described in detail with a specific embodiment.
Step S201: the vehicle gear is positioned at the D gear, the actual vehicle speed is smaller than the first preset vehicle speed, a switch of the tracking reversing function is set at ON, and the self-checking of the tracking reversing function is started.
Step S202: after the self-checking is fault-free, a path memory mode is entered, and the transverse coordinate, the longitudinal coordinate and the yaw angle of the vehicle on the CAN bus are obtained, so that the target running track is obtained.
Step S203: the actual speed is smaller than the second preset speed, the vehicle runs to the preset final distance, the driver is prompted to switch the gear to the R gear, or the driver manually switches the gear to the R gear, the vehicle is judged to meet the preset tracking reversing condition, and the tracking reversing function is activated.
Step S204: and performing reverse processing on the target running track array to obtain a tracking target track.
Step S205: and outputting the target front wheel steering angle to the EPS for making instructions by controlling the path tracking and transverse direction.
Step S206: the driver controls the accelerator pedal to realize longitudinal control of the vehicle, so that the vehicle can control the vehicle to execute tracking reversing action according to the tracking target track and the target front wheel steering angle, and the flexibility and reliability of the vehicle in tracking reversing are effectively improved.
According to the vehicle tracking reversing method provided by the embodiment of the application, the vehicle can be controlled to enter the path memory mode under the condition that the vehicle is detected to be in the tracking reversing working condition, so that the transverse coordinate, the longitudinal coordinate and the yaw angle of the vehicle are obtained, the target running track of the vehicle is obtained, the tracking target track is obtained under the condition that the vehicle meets the tracking reversing condition, the vehicle is controlled to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle, the flexibility of the vehicle in tracking reversing is effectively improved, and the use requirements of users on various special scenes are met. Therefore, the problems that in the related art, the vehicle tracking and reversing are controlled only through the vehicle paths corresponding to the coordinate positions, so that the flexibility of the vehicle tracking and reversing is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met are solved.
Next, a device for tracking and reversing a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a vehicle tracking reversing device according to an embodiment of the application.
As shown in fig. 3, the apparatus 10 for tracking and reversing a vehicle includes: a first detection module 100, a determination module 200, and a control module 300.
Specifically, the first detection module 100 is configured to detect whether the vehicle is in a preset tracking and reversing condition.
The determining module 200 is configured to control the vehicle to enter a path memory mode to obtain a transverse coordinate, a longitudinal coordinate and a yaw angle memorized by the vehicle when the vehicle is detected to be in a preset tracking and reversing working condition.
The control module 300 is configured to obtain a target running track of the vehicle according to the transverse coordinate, the longitudinal coordinate and the yaw angle, and perform a reverse process on the target running track to obtain a tracking target track when the vehicle meets a preset tracking reversing condition, so as to control the vehicle to perform a tracking reversing action according to the tracking target track and a target front wheel steering angle of the vehicle.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises an acquisition module, a judgment module and a first processing module.
The acquisition module is used for acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear before detecting whether the vehicle is in a preset tracking reversing working condition.
The judging module is used for judging whether the actual vehicle speed is smaller than a first preset vehicle speed before detecting whether the vehicle is in a preset tracking reversing working condition.
The first processing module is used for controlling the vehicle to enter the preset tracking reversing working condition if the actual vehicle speed is smaller than the first preset vehicle speed before detecting whether the vehicle is in the preset tracking reversing working condition or not, otherwise, the vehicle does not enter the preset tracking reversing working condition.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the second detection module and the second processing module.
The second detection module is used for detecting whether the actual speed of the vehicle is smaller than a second preset speed after the target running track of the vehicle is obtained.
The second processing module is used for acquiring the continuous running distance of the vehicle under the condition that the actual vehicle speed is detected to be smaller than the second preset vehicle speed after the target running track of the vehicle is obtained, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches the preset final distance and the vehicle is switched to the reverse gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: the device comprises a third detection module, a third processing module and a fourth processing module.
The third detection module is used for detecting whether the current road of the vehicle meets the preset narrow condition after the vehicle is controlled to execute tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
And the third processing module is used for controlling the vehicle to continuously execute the tracking reversing action if the current road meets the preset narrow condition after controlling the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
And the fourth processing module is used for controlling the vehicle to exit the tracking reversing action if the current road does not meet the preset narrow condition after controlling the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
Optionally, in an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: a receiving module and a control module.
The receiving module is used for receiving the tracking reversing instruction of the user.
And the control module is used for responding to the tracking reversing instruction, carrying out reverse processing on the target running track to obtain a tracking target track, and controlling the vehicle to execute reversing action according to the tracking target track and the target front wheel steering angle.
It should be noted that the foregoing explanation of the embodiment of the method for tracking and reversing a vehicle is also applicable to the device for tracking and reversing a vehicle of this embodiment, and will not be repeated here.
According to the vehicle tracking reversing device provided by the embodiment of the application, the vehicle can be controlled to enter the path memory mode under the condition that the vehicle is detected to be in the tracking reversing working condition, so that the transverse coordinate, the longitudinal coordinate and the yaw angle of the vehicle are obtained, the target running track of the vehicle is obtained, and the tracking target track is obtained under the condition that the vehicle meets the tracking reversing condition, so that the vehicle is controlled to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle, the flexibility of the vehicle in tracking reversing is effectively improved, and the use requirements of users on various special scenes are met. Therefore, the problems that in the related art, the vehicle tracking and reversing are controlled only through the vehicle paths corresponding to the coordinate positions, so that the flexibility of the vehicle tracking and reversing is low, the practicability and reliability of the vehicle tracking and reversing are reduced, and the use requirements of users on various special scenes cannot be met are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
Memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402, when executing the program, implements the method for tracking and reversing the vehicle provided in the above embodiment.
Further, the vehicle further includes:
A communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENTINTERCONNECTINTERCONNECT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete communication with each other through internal interfaces.
Processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for tracking and reversing a vehicle as described above.
The present embodiment also provides a computer program which, when executed, is used to implement the method for tracking and reversing a vehicle as described above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with another embodiment, if implemented in hardware, may be implemented in a combination of any one or more of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A method for tracking and reversing a vehicle, comprising the steps of:
Detecting whether the vehicle is in a preset tracking reversing working condition;
controlling the vehicle to enter a path memory mode under the condition that the vehicle is detected to be in the preset tracking reversing working condition so as to obtain a transverse coordinate, a longitudinal coordinate and a transverse swing angle memorized by the vehicle; and
And obtaining a target running track of the vehicle according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and carrying out reverse processing on the target running track under the condition that the vehicle meets the preset tracking reversing condition to obtain a tracking target track so as to control the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
2. The method of claim 1, further comprising, prior to detecting whether the vehicle is in the preset tracking reverse condition:
acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear;
Judging whether the actual vehicle speed is smaller than a first preset vehicle speed or not;
And if the actual vehicle speed is smaller than the first preset vehicle speed, controlling the vehicle to enter the preset tracking reversing working condition, otherwise, not entering the preset tracking reversing working condition.
3. The method according to claim 1, further comprising, after obtaining the target travel track of the vehicle:
detecting whether the actual speed of the vehicle is smaller than a second preset speed;
And under the condition that the actual vehicle speed is detected to be smaller than the second preset vehicle speed, collecting the continuous running distance of the vehicle, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches a preset final distance and the vehicle is switched to a reversing gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
4. The method of claim 1, further comprising, after controlling the vehicle to perform a tracking reverse action based on the tracking target trajectory and a target front wheel steering angle of the vehicle:
Detecting whether a current road of the vehicle meets a preset narrow condition or not;
if the current road meets the preset narrow condition, controlling the vehicle to continue to execute the tracking reversing action;
and if the current road does not meet the preset narrow condition, controlling the vehicle to exit the tracking reversing action.
5. The method as recited in claim 1, further comprising:
receiving a tracking reversing instruction of a user;
And responding to the tracking reversing instruction, and reversely processing the target running track to obtain a tracking target track so as to control the vehicle to execute reversing action according to the tracking target track and the target front wheel steering angle.
6. A vehicle tracking reversing device, comprising:
The first detection module is used for detecting whether the vehicle is in a preset tracking and reversing working condition or not;
The determining module is used for controlling the vehicle to enter a path memory mode under the condition that the vehicle is detected to be in the preset tracking reversing working condition so as to obtain a transverse coordinate, a longitudinal coordinate and a transverse swing angle memorized by the vehicle; and
The control module is used for obtaining a target running track of the vehicle according to the transverse coordinates, the longitudinal coordinates and the yaw angle, and carrying out reverse processing on the target running track to obtain a tracking target track under the condition that the vehicle meets the preset tracking reversing condition so as to control the vehicle to execute the tracking reversing action according to the tracking target track and the target front wheel steering angle of the vehicle.
7. The apparatus as recited in claim 6, further comprising:
the acquisition module is used for acquiring the actual speed of the vehicle under the condition that the vehicle is in a forward gear before detecting whether the vehicle is in a preset tracking reversing working condition;
the judging module is used for judging whether the actual vehicle speed is smaller than a first preset vehicle speed before detecting whether the vehicle is in a preset tracking reversing working condition or not;
The first processing module is used for controlling the vehicle to enter the preset tracking reversing working condition if the actual vehicle speed is smaller than the first preset vehicle speed before detecting whether the vehicle is in the preset tracking reversing working condition, or else, the vehicle does not enter the preset tracking reversing working condition.
8. The apparatus as recited in claim 6, further comprising:
the second detection module is used for detecting whether the actual speed of the vehicle is smaller than a second preset speed after the target running track of the vehicle is obtained;
And the second processing module is used for acquiring the continuous running distance of the vehicle under the condition that the actual vehicle speed is detected to be smaller than the second preset vehicle speed after the target running track of the vehicle is obtained, and judging that the vehicle meets the preset tracking reversing condition when the continuous running distance reaches the preset final distance and the vehicle is switched to the reverse gear, wherein the second preset vehicle speed is smaller than the first preset vehicle speed.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of tracking and reversing a vehicle as claimed in any one of claims 1 to 5.
10. A computer readable storage medium having stored thereon a computer program, the program being executed by a processor for implementing a method of vehicle tracking reversing according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410251500.6A CN118124579A (en) | 2024-03-05 | 2024-03-05 | Method and device for tracking and reversing vehicle, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410251500.6A CN118124579A (en) | 2024-03-05 | 2024-03-05 | Method and device for tracking and reversing vehicle, vehicle and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN118124579A true CN118124579A (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410251500.6A Pending CN118124579A (en) | 2024-03-05 | 2024-03-05 | Method and device for tracking and reversing vehicle, vehicle and storage medium |
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| Country | Link |
|---|---|
| CN (1) | CN118124579A (en) |
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2024
- 2024-03-05 CN CN202410251500.6A patent/CN118124579A/en active Pending
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