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Automatic reversing control method and device, vehicle and storage medium

A control method and vehicle technology, applied in vehicle components, transportation and packaging, steering mechanisms, etc., can solve the problems of sensor signal error, inaccurate control model, and inability to meet the requirements of reversing accuracy, so as to compensate for system delay and improve control accuracy. The effect of improving the accuracy and

Active Publication Date: 2022-05-06
CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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AI Technical Summary

Problems solved by technology

However, when a vehicle with a long wheelbase uses front-wheel drive for reverse control, especially for a truck with a trailer, it is often due to inaccurate control models, errors in sensor signals, and response delays of front-wheel drive actuators. , leading to unsatisfactory reversing control effect of large vehicles, and the reversing accuracy cannot meet the requirements

Method used

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  • Automatic reversing control method and device, vehicle and storage medium
  • Automatic reversing control method and device, vehicle and storage medium
  • Automatic reversing control method and device, vehicle and storage medium

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Embodiment Construction

[0037] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0038] The automatic reversing control method provided by this application can be applied to such as figure 1 shown in the application environment.

[0039] The application environment includes a vehicle 100 configured with a lidar 101 , a camera 102 , a radar sensor 103 and a vehicle controller 104 . Wherein, the laser radar 101, the camera 102, and the radar sensor 103 are respectively connected with the controller 104. The laser radar 101 collects a three-dimensional map of the device environment, and the camera 102 collects images around the device in real time. Bas...

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Abstract

The invention relates to an automatic reversing control method and device, a vehicle and a storage medium. According to the method, a back-up coordinate system is established with the back-up rear wheel speed direction as the positive direction, back-up target track information of the vehicle under the back-up coordinate system is obtained, and errors caused by coordinate conversion through back-up drivable area position information can be avoided; the position of the data point with the maximum curvature change within a certain range is calculated in real time according to the backing target driving track, backing control is conducted according to the target position and the error value of the vehicle, the advanced control function of a control system can be achieved, error accumulation caused by system delay and other reasons is made up, and backing, especially parking space control accuracy is improved. According to the method, the accuracy of automatic reversing control is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving control, in particular to an automatic reversing control method, device, vehicle and storage medium. Background technique [0002] With the development of automobile intelligence and networking technology, my country's intelligent driving technology is also developing rapidly, and automatic driving in specific areas such as logistics and ports in specific parks has been realized one after another. [0003] The automatic reversing of vehicles is an indispensable technology in automatic driving. Especially under the premise that assisted driving and some unmanned vehicle technologies are becoming more and more mature, and the application scenarios are becoming more and more abundant, there is a demand for autonomous reversing and warehousing, such as unmanned mining areas. Autonomous loading / unloading of mining trucks, auxiliary reversing of trucks with trailers, autonomous parki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/02
CPCB62D15/0285B62D15/02B60W50/00B60W30/12
Inventor 胡斯博姚丽黄露杨易
Owner CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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