WO2018121359A1

WO2018121359A1 - Reversing control method

Info

Publication number: WO2018121359A1
Application number: PCT/CN2017/117274
Authority: WO
Inventors: 马骏
Original assignee: 上海蔚来汽车有限公司
Priority date: 2016-12-26
Filing date: 2017-12-19
Publication date: 2018-07-05
Also published as: CN106781693A

Abstract

A reversing control method for an electric vehicle. The reversing control method mainly comprises: when a vehicle reverses, enabling the vehicle to communicate with at least one facility end at a target position (S110); calculating position information of the vehicle relative to the at least one facility end (S120); and at least on the basis of the position information, adjusting the speed of the reversing vehicle in a set manner (S130). In the reversing control method of the invention, a vehicle is enabled to communicate with a facility end, and the speed of the vehicle is adjusted in an appropriate and timely manner, thereby eliminating the safety risk of a collision accident caused by inappropriate control of the speed of a reversing electric vehicle during reversing and parking of the vehicle, and improving the safety of a vehicle during reversing and parking. The reversing control method of the invention is especially applicable to scenarios in which a battery of an electric vehicle is charged/replaced at a target position of a facility end.

Description

Reverse control method

Technical field

The present invention relates to the field of safety of electric vehicles, and more particularly to a reversing control method particularly suitable for electric vehicles.

Background technique

In order to improve the safety of the car during the reverse parking process, most of the cars currently use the reverse assist system as a reversing safety strategy to relieve the trouble caused by the blind spot in the rearview mirror, thereby eliminating the driver's reversing as much as possible. Safety hazards during parking.

For example, the Chinese patent (CN101274621) discloses an electric vehicle in which a reversing radar is installed on the electric vehicle, at least one detection probe is arranged at the rear of the vehicle, a reversing radar is connected to the alarm, and a signal conversion is set between the radar and the electric vehicle controller. The board performs signal conversion and the controller controls the power outage and braking system. The reversing radar of the invention is automatically turned on when reversing, and an alarm is issued when the probe receives the ultrasonic signal reflected by the obstacle behind the vehicle, and the alarm signal is simultaneously transmitted to the conversion board, and is input to the electric vehicle controller after signal conversion. The controller issues a power-off and brake command to achieve automatic braking of the electric vehicle.

It can be seen that for an electric vehicle, usually in the reverse parking process, based on the position information of the obstacle behind the vehicle acquired by the reverse assist system, the safe reverse is achieved by a simple sudden braking method, that is, at least the vehicle is guaranteed. No obstacles will be hit during the reversing process. However, since the continuously variable transmission of the conventional fuel vehicle or the conventional automatic transmission does not have a clutch, the power transmission is realized by the torque converter. That is, when the brake is released, the torque converter will give a certain power transmission with the increase of the speed and the increase of the oil pressure (no need to step on the throttle). In the case where the electric vehicle omits the transmission, the driver needs to adjust the power output simply by stepping on the electric door. Obviously, it is difficult to control the exerting force of the electric door, and thus it is very likely to cause an accident. In the process of parking and parking, if the reverse speed is not properly controlled, it is very likely that the brakes will not be too late, or because the speed of the reverse is too fast, even if the brakes are applied, the car cannot be safely parked, which may cause a collision.

Summary of the invention

technical problem

In view of this, the technical problem to be solved by the present invention is how to improve the safety of the electric vehicle in the process of reverse parking by controlling the reverse speed.

solution

In order to solve the above technical problem, according to an embodiment of the present invention, a reverse control method is provided, which is mainly used to improve safety of a vehicle during reverse parking. The reversing control method includes:

Establishing communication between the vehicle and at least one facility end at the target location in the event that the vehicle is in a reverse operating condition;

Calculating position information of the automobile relative to the at least one facility end;

The reverse speed of the vehicle is adjusted in a set manner based at least on the position information.

For the above control method, in a possible implementation manner, the “establishing communication between the automobile and the at least one facility end in the target position in the case that the automobile is in the reverse working condition” further includes:

Detecting that the automobile is in a reverse working condition;

Transmitting, by the first communication module disposed in the automobile, an interaction request signal to the at least one facility end;

And the at least one facility end sends an interaction feedback signal corresponding to the interaction request signal, based on the interaction request signal;

And establishing communication between the automobile and the at least one facility end in a case where the first communication module receives the interaction feedback signal.

Determining that the car is in a reverse working condition;

Triggering a second communication module disposed at the facility end to send an interaction request signal to the car;

And establishing communication between the automobile and the at least one facility end in a case where the first communication module disposed in the automobile receives the interaction request signal.

For the above control method, in a possible implementation manner, the “calculating the location information of the car relative to the at least one facility end” further includes:

Selecting a current service facility end in the at least one facility end;

In the process of the car approaching the current service facility end, location information between the car and the current service facility end is calculated.

For the above control method, in a possible implementation manner, the “adjusting the reverse speed of the vehicle in a set manner based on the location information at least” further includes:

Adjusting the reverse speed of the automobile in a first setting manner during the approach of the automobile to the current service facility end; wherein the first setting manner is at least based on the vehicle only relative to the current service facility end In the case of distance information, the car is brought to the target location in a manner close to the current service facility end.

Adjusting the reverse speed of the vehicle in a second setting manner in the case where the obstacle occurs in the process of approaching the current service facility end; wherein the second setting mode enables the electric vehicle to pass the obstacle road condition, and After the obstacle road condition, the vehicle can still be brought to the target position by "adjusting the reverse vehicle speed of the vehicle in the first setting manner".

In a possible implementation manner, the location information is a distance between the car and the current service facility end, and the car obtains a power-on service after reaching the target location. .

For the above control method, in a possible implementation manner, the “the car obtains a power-up service after reaching the target location” further includes:

The vehicle obtains a power-up service by connecting to the current service facility end of the target location; or

The vehicle obtains a power-up service by docking with a power-repairing facility corresponding to the current service facility end of the target location.

In a possible implementation manner, in a possible implementation manner, the target location is a charging position capable of providing a charging service to the automobile, and the at least one facility end is disposed at an outer edge of the charging position.

For the above control method, in a possible implementation manner, the at least one facility end is disposed at any position of the four corners of the outer edge of the charging position.

In order to solve the above technical problem, according to another embodiment of the present invention, a reverse control method is provided, which is mainly used to improve safety of a vehicle during reverse parking. The method includes:

Detecting that the automobile is in a reverse working condition;

The car sends an interaction request signal;

The car receives an interaction feedback signal corresponding to the interaction request signal;

Calculating relative position information of the automobile;

Based on the relative position information, the car adjusts the reverse speed of the vehicle in a set manner.

For the above control method, in a possible implementation manner, the “calculating relative position information of the automobile” further includes: calculating relative position information of the automobile by an onboard processor of the automobile.

For the above control method, in a possible implementation manner, the “calculating relative position information of the automobile” further includes: calculating, by a remote processor, relative position information of the automobile.

For the above control method, in a possible implementation manner, the “adjusting the reverse speed of the vehicle in a set manner based on the relative position information” further includes:

Adjusting the reverse vehicle speed of the automobile in a first setting manner during the reverse parking of the automobile; wherein the first setting manner enables the at least the situation based on the relative position information only The car arrives at the target location.

In a situation where an obstacle road condition occurs during the reverse parking of the automobile, the reverse speed of the automobile is adjusted in a second setting manner; wherein the second setting manner enables the automobile to pass through the obstacle road condition, and After the obstacle condition is described, the vehicle can still be brought to the target position by "adjusting the reverse speed of the vehicle in the first setting manner".

For the above control method, in a possible implementation manner, the relative position information is a current position of the automobile in the process of parking parking and the target of the automobile after the parking is over. The distance between the locations.

In order to solve the above technical problem, according to a third embodiment of the present invention, a reverse control method is provided, which is mainly used to improve safety of a vehicle during reverse parking. The method includes:

The facility receives the interactive request signal on the premise that the vehicle is in the reverse working condition;

In the case that the interaction request signal is allowed to establish communication, the facility end sends an interaction feedback signal corresponding to the interaction request signal;

Calculating relative position information of the automobile to enable the vehicle to adjust the reverse vehicle speed in a set manner based at least on the relative position information.

For the above control method, in a possible implementation manner, the “calculating relative position information of the automobile” further includes: calculating relative position information of the automobile by a processor disposed at the facility end.

For the above control method, in a possible implementation manner, the relative position information is a distance between the facility end and the automobile.

Beneficial effect

The reversing control method of the present invention is based on the ability to establish communication between the automobile and the facility end, and based on the positional relationship between the automobile and the facility end, the sub-condition control of the reversing vehicle speed of the electric vehicle is controlled according to a set manner, thereby improving The safety of the car during reverse parking. Specifically, in the process in which the electric vehicle is parked to the target position by reversing, it is possible to effectively prevent the automobile from colliding with the corresponding structure (such as the facility end) of the target position due to the untimely adjustment of the vehicle speed. The reversing control method of the present invention is particularly suitable for an application scenario in which an electric vehicle can obtain a refueling service at a target location where the facility is located.

Further features and aspects of the present invention will become apparent from the Detailed Description of the Drawing.

DRAWINGS

The accompanying drawings, which are incorporated in FIG

Fig. 1 is a flow chart showing a reversing control method of an embodiment of the present invention.

2 is a flow chart showing an authentication process of the reverse control method of one embodiment of the present invention.

detailed description

Various exemplary embodiments, features, and aspects of the invention are described in detail below with reference to the drawings. The same reference numerals in the drawings denote the same or similar elements. Although the various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustrative." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or preferred.

In addition, numerous specific details are set forth in the Detailed Description of the invention in the Detailed Description. Those skilled in the art will appreciate that the invention may be practiced without some specific details. In some instances, methods, means, components, and circuits that are well known to those skilled in the art are not described in detail in order to facilitate the invention.

Because the electric motor is in the process of reversing, the difficulty of controlling the force exerted by the driver on the electric door is significantly more difficult than that of the conventional fuel vehicle. Therefore, the current reversing strategy of the electric vehicle in the process of reversing parking is based on the position information of the rear obstacles obtained only by the reversing auxiliary system, and the safe reversing by simple braking method. There may be a defect in the process that "it may be because there is no time to brake on the brakes, or because the reverse speed is too fast, even if the brakes are not able to make the car safely parked, which may cause a collision accident." In view of this, the present invention is based on the communication between the automobile and the facility end, and actively controls the reverse vehicle speed through a set manner, and on the basis of reliable parking by reversing, can effectively avoid the unreasonable control due to the vehicle speed control. The safety hazard further improves the safety of electric vehicles during reverse parking.

Example 1

The reversing control method of the present invention is particularly suitable for an application scenario in which "the electric vehicle is provided with a replenishment service after the electric vehicle is stopped to the target position." Taking the application scenario as an example, the target location may be: in the power exchange station, the electric vehicle is replaced in the set power-changing position (such as the power-changing platform). Or it may be: a plurality of charging piles are centrally managed in the charging station, and corresponding charging positions (such as parking spaces in the station) are arranged corresponding to each charging pile. Or it may be: a charging operation position (such as a parking space near the roadside of a convenient charging pile) equipped with a convenient charging pile. It is also possible to enable the electric vehicle to be charged in time by moving the emergency charging device such as a mobile charging car to an arbitrarily set position. Of course, in addition to the application of charging and replacing the electric vehicle, the reversing control method of the present invention is equally applicable to the application scenario of any form of reversing parking.

Fig. 1 is a flow chart showing a reversing control method of an embodiment of the present invention. The reversing control method of the present invention mainly enables reasonable and scientific vehicle speed management for an electric vehicle that is parked to a target position, so that the electric vehicle realizes reliable parking.

As shown in FIG. 1, the present invention provides a reversing control method mainly for improving the safety of an electric vehicle in a reversing parking process. The reversing control method mainly includes the following steps:

S110: In a situation where the automobile is in a reverse working condition, the vehicle is established to communicate with at least one facility end at the target location.

S120. Calculate location information of the car relative to the at least one facility end.

S130: Adjust the reverse speed of the automobile in a set manner based on at least the position information, and the vehicle is reliably parked by the adjustment.

Based on the communication between the vehicle and the facility, the safety of the vehicle in the parking position at the target position is realized by adjusting the reverse speed of the vehicle accordingly. Specifically, the electric vehicle can be parked to the target position, and the phenomenon that the vehicle collides with the relevant structure of the target position (such as the facility end) due to the excessively fast speed in the process of parking to the target position can be prevented.

In a possible implementation manner, the target location may be a parking space with a charging pile, and the facility end may be a charging pile disposed in the parking space, or may be any reference facility capable of marking the parking space. If it can be: at a substantially midpoint of the rear edge of the parking space, a reference obstacle (rod or table) is provided to obtain and/or analyze the electric vehicle and the reference obstacle during parking. The location information between them and their changes to improve the safety of electric vehicles during reverse parking.

Taking the facility end as a charging pile as an example, after the electric vehicle is parked to the parking space corresponding to the charging pile, the charging pile is inserted into the charging port of the electric vehicle, so that the electric vehicle obtains the corresponding charging service. In a possible implementation, at least one charging pile may be disposed at the outer edge of the parking space. Preferably, the facility end is disposed at any position of the four corners of the outer edge of the parking space. For example, in a case where a plurality of parking spaces that can be used for power-up operation of an electric vehicle are arranged side by side in the charging station, charging piles may be respectively provided at two corners of the rear of the parking space.

Of course, in the case where the target position is a power exchange platform in the power station, after the electric vehicle is parked to the power exchange platform, the power exchange trolley as a power-on facility replaces the power-deficient battery on the electric vehicle on the one hand, and On the one hand, the full power in the energy storage unit (such as the charging platform) is exchanged into the power car. That is to say, through the shuttle between the energy storage unit and the power exchange platform, the electric vehicle obtains the power supply service by changing the power.

The manner of establishing communication between the car and the at least one facility end in the target location mentioned in step S110 may include at least the following two types:

One way may be to first send an interaction request signal to the facility end (such as a charging pile) at the vehicle end (electric vehicle), and when the facility side receives the interaction request signal and sends an interactive feedback signal to the vehicle end, it represents the vehicle end and the facility. Communication between the ends is established. Specifically, first, the vehicle end triggers the first communication module (set at the vehicle end) to send an interaction request signal to the at least one facility end according to the detected reverse driving condition. Second, at least one facility sends an interactive feedback signal corresponding to the interaction request signal. Finally, the first communication module, when receiving the interactive feedback signal, causes the vehicle end to establish communication with the at least one facility.

Another way may be that the second communication module at the facility side first sends an interaction request signal to the vehicle end, and when the vehicle end receives the interaction request signal and sends an interactive feedback signal to the facility, it represents between the vehicle end and the facility end. The communication was established.

The (first and second) communication modules used to establish communication between the vehicle end and the facility end may be any achievable Wifi, LTE, Zigbee, NFC, Bluetooth, infrared, laser, ultrasonic, and/or video communication. Reasonable form.

In addition, as shown in FIG. 2, the step of authenticating may also be included before establishing communication. For example, in the foregoing first way of establishing communication (ie, sending an interaction request signal to the facility end at the vehicle end), after receiving the interaction request signal sent by the vehicle end, the facility end sends a communication request signal to the server (such as a cloud server or a physical server). Initiating an authentication request signal, in the case that the authentication feedback signal returned by the server to the facility is authenticated, indicating that a handshake can be established between the vehicle end and the facility end, and at this time, the facility sends a corresponding interactive feedback signal to the At the vehicle end, after the vehicle receives the interactive feedback signal, communication between the vehicle and the facility is established. Through the setting of the authentication, it can be further determined whether the vehicle end has the right to accept the power-up service provided by the facility. In terms of the facilities that provide services, it can improve the security when providing services to multiple vehicles at the same time, especially for the large-scale situation on the facility side.

In a possible implementation manner, the interactive feedback signal may include related parameters that can calculate position information (such as distance) between the electric vehicle and the facility end. Of course, the corresponding parameters may be acquired after the communication is established. The way to calculate the distance between the electric vehicle and the facility can be in various forms, such as ranging based on signal strength, or based on the LTE-based vehicle self-organizing short-range straight-through technology between the electric vehicle and the facility. The position is marked, and then the distance between the two is calculated based on the position coordinates of the facility. Alternatively, the position coordinates of the electric vehicle and the facility can be directly obtained by GPS, and the distance between the two can be calculated. Of course, any reasonable way to calculate the distance between the two can be used as the ranging scheme in the present invention. In addition, the step of calculating the position information between the electric vehicle and the facility end may be performed at the vehicle end (such as an on-board processor at the vehicle end or a mechanism equivalent to the on-board processor), or at the facility end (configured with a processing capability) , or an equivalent mechanism) or on the server side (such as a remote processor or an equivalent organization). However, when the calculation of the location information is completed at the facility or the server, finally a layer of data interaction needs to be added, that is, the calculation result is sent to the electric vehicle, and the electric vehicle can be in the reverse parking process based on the location information. The torque and speed of the drive motor of the electric vehicle are adjusted.

In a possible implementation manner, in the process of reversing parking, if an electric vehicle encounters a granular obstacle (such as a rock block, a ground lock, etc.) on the ground that must be crossed, it is often necessary to apply a larger throttle pedal. The power to achieve obstacles. After the application of greater force, the reversing speed will also increase. When the reversing assist system detects that there is an obstacle that needs to be braked behind the vehicle, it may not be able to make the brakes, or because the reversing speed is too fast, even if the brakes are not applied, Cars are safely parked, which may lead to collisions. The process of adjusting the reverse vehicle speed of the electric vehicle by the reverse control method of the present invention will be described by taking such a road condition as an example. The adjustment strategy of the speed of the vehicle mainly includes the following two aspects:

On the one hand, in the process in which the electric vehicle approaches the current service facility end (such as a charging pile that is to be used to replenish the vehicle after the parking is completed), the reverse speed of the electric vehicle is adjusted in the first setting manner. Through the first setting method, the change of the speed of the electric vehicle and the change of the distance between the electric vehicle and the charging pile should be substantially the same, that is, as the distance becomes closer, the vehicle speed becomes slower and slower. Of course, those skilled in the art can understand that, on the basis that the guaranteed trend is substantially the same, the adjustment scheme of the vehicle speed can be further optimized by introducing a set threshold, adjusting the weight, and the like. In other words, the first setting method should ensure that the electric vehicle does not collide during the parking process in the process of the electric vehicle reaching the target position in a manner close to the facility end based on the distance information alone.

On the other hand, in the process of the car approaching the current service facility, in the case of obstacles, such as the occurrence of granular obstacles (such as stones, ground locks, etc.) on the ground that must be crossed, Adjust the car's reverse speed in a fixed way. The second setting method should first ensure that the electric vehicle can pass over the granular obstacles, and also need to ensure that the electric vehicle can continue to pass the first setting after the electric vehicle continues to approach the current service facility after crossing the granular obstacle. The way to adjust the reversing speed of the electric car to achieve safe parking. For example, by controlling the torque and the rotational speed of the drive motor, the control scheme of the transient condition such as the speed increase-over obstacle-fast down speed can be performed. In other words, the second setting method should ensure that, in the process of the electric vehicle reaching the target position based on the distance information, even if other transient conditions that cannot be reflected by the distance information appear, the electric vehicle can be made through the corresponding control strategy. Avoid the hidden dangers caused by this transient condition during parking.

It can be seen that in the process of reversing the electric vehicle to reach the target position, by adjusting the reversing speed of the electric vehicle, on the one hand, the vehicle speed is controlled by the distance between the electric vehicle and the facility end, and on the other hand, when the instantaneous working condition occurs, correspondingly The emergency control strategy, so that the electric vehicle avoids the collision accident caused by improper speed control during the process of reaching the target position. After the electric vehicle is parked to the target location, it can be provided with corresponding power-up service through the facility or the power-recovery facility corresponding to the facility.

Of course, those skilled in the art can understand that in addition to the above-mentioned transient conditions in which there are granular obstacles on the ground, a corresponding vehicle speed adjustment strategy can be formulated for other forms of transient conditions. In summary, the present invention improves the reliability of the electric vehicle in the reverse parking mode by timely and rationally adjusting the reverse speed of the electric vehicle through the interaction between the vehicle end and the facility end.

It should be noted that although the control method of the electric vehicle in the reverse parking process is described above as an example of the parking space equipped with the charging post as the target position, those skilled in the art can understand that the present invention is not limited thereto. In fact, it is perfectly possible to flexibly set the configuration of the charging post at the target location according to the requirements of the applicable application scenario. Or the facility side is equipped with other corresponding devices in addition to the charging pile. Or replace the target location with a power-changing platform that performs power-changing operations in the substation. Or it is mainly used to expand the target position where the electric vehicle obtains the charging position to any form of reverse parking or the like.

Heretofore, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings, but it is obvious to those skilled in the art that the scope of the present invention is obviously not limited to the specific embodiments. Those skilled in the art can make equivalent changes or substitutions to the related technical features without departing from the principles of the present invention. The modifications and alternatives will fall within the scope of the present invention.

Claims

A reversing control method for improving safety of a vehicle during reversing, characterized in that the method comprises:

Establishing communication between the vehicle and at least one facility end at the target location in the event that the vehicle is in a reverse operating condition;

Calculating position information of the automobile relative to the at least one facility end;

The reverse speed of the vehicle is adjusted in a set manner based at least on the position information.
The reversing control method according to claim 1, wherein said "establishing communication between the vehicle and at least one facility end at the target position in the case where the automobile is in the reverse working condition" further comprises:

Detecting that the automobile is in a reverse working condition;

Transmitting, by the first communication module disposed in the automobile, an interaction request signal to the at least one facility end;

And the at least one facility end sends an interaction feedback signal corresponding to the interaction request signal, based on the interaction request signal;

And establishing communication between the automobile and the at least one facility end in a case where the first communication module receives the interaction feedback signal.
The reversing control method according to claim 1, wherein said "establishing communication between the vehicle and at least one facility end at the target position in the case where the automobile is in the reverse working condition" further comprises:

Determining that the car is in a reverse working condition;

Triggering a second communication module disposed at the facility end to send an interaction request signal to the car;

And establishing communication between the automobile and the at least one facility end in a case where the first communication module disposed in the automobile receives the interaction feedback signal.
The reversing control method according to claim 2 or 3, wherein the "calculating the position information of the car relative to the at least one facility end" further comprises:

Selecting a current service facility end in the at least one facility end;

In the process of the car approaching the current service facility end, location information between the car and the current service facility end is calculated.
The reversing control method according to claim 4, wherein said "adjusting the reverse speed of the vehicle in a set manner based on at least said position information" further comprises:

Adjusting the reverse speed of the vehicle in a first setting manner during the approach of the automobile to the current service facility end;

The first setting mode can enable the automobile to reach the target location in a manner close to the current service facility end, at least based on the distance information of the automobile with respect to the current service facility end.
The reversing control method according to claim 5, wherein said "adjusting the reverse speed of the vehicle in a set manner based on at least said position information" further comprises:

Adjusting the reverse speed of the vehicle in a second setting manner in the event that an obstacle condition occurs in the process of approaching the current service facility end;

Wherein the second setting mode enables the electric vehicle to pass the obstacle road condition, and

After passing the obstacle road condition, the vehicle can still be brought to the target position by "adjusting the reverse vehicle speed of the vehicle in the first setting manner".
The reversing control method according to claim 6, wherein the position information is a distance between the car and the current service facility end, and the car obtains a charge after reaching the target position service.
The reversing control method according to claim 7, wherein said "the car obtains a power-up service after reaching the target position" further includes:

The vehicle obtains a power-up service by connecting to the current service facility end of the target location; or

The vehicle obtains a power-up service by docking with a power-repairing facility corresponding to the current service facility end at the target location.
The reversing control method according to claim 1, wherein the target position is a charging position capable of providing a charging service to the automobile, and the at least one facility end is disposed at an outer edge of the charging position .
The reversing control method according to claim 9, wherein the at least one facility end is disposed at any position of the four corners of the outer edge of the replenishing position.
A reversing control method, characterized in that the method comprises:

Detecting that the automobile is in a reverse working condition;

The car sends an interaction request signal;

The car receives an interaction feedback signal corresponding to the interaction request signal;

Calculating relative position information of the automobile;

Based on the relative position information, the car adjusts the reverse speed of the vehicle in a set manner.
The reversing control method according to claim 11, wherein said "calculating relative position information of said automobile" further comprises:

Relative position information of the car is calculated by an onboard processor of the automobile.
The reversing control method according to claim 11, wherein said "calculating relative position information of said automobile" further comprises:

The relative position information of the car is calculated by a remote processor.
The reversing control method according to any one of claims 11 to 13, wherein said "adjusting the reverse speed of the vehicle in a set manner based on at least the relative position information" further comprises:

Adjusting the reverse speed of the automobile in a first setting manner during the reverse parking of the automobile;

Wherein, the first setting mode enables the car to reach the target position at least based on the relative position information.
The reversing control method according to claim 14, wherein the "adjusting the reverse speed of the vehicle in a set manner based on the relative position information" further includes:

In the case that a barrier road condition occurs during the reverse parking of the automobile, the reverse speed of the vehicle is adjusted in a second setting manner;

Wherein the second setting mode enables the car to pass the obstacle road condition, and

After passing the obstacle road condition, the vehicle can still be brought to the target position by "adjusting the reverse vehicle speed of the vehicle in the first setting manner".
The reversing control method according to claim 15, wherein said relative position information is said current position of said automobile in the process of reverse parking and said said vehicle is after said parking is completed The distance between the target locations.
A reversing control method, characterized in that the method comprises:

The facility receives the interactive request signal on the premise that the vehicle is in the reverse working condition;

In the case that the interaction request signal is allowed to establish communication, the facility end sends an interaction feedback signal corresponding to the interaction request signal;

Calculating relative position information of the automobile to enable the vehicle to adjust the reverse vehicle speed in a set manner based at least on the relative position information.
The reversing control method according to claim 17, wherein said "calculating relative position information of said automobile" further comprises:

The relative position information of the car is calculated by a processor provided at the facility end.
The reversing control method according to claim 17, wherein said "calculating relative position information of said automobile" further comprises:

The relative position information of the car is calculated by a remote processor.
The reversing control method according to any one of claims 17 to 19, wherein the relative position information is a distance between the facility end and the car.