A method and apparatus for tracking a reversing vehicle

Abstract

The track reversing method and device provided by the embodiment of the application are applied to the technical field of vehicles, the method comprises the following steps: acquiring a plurality of wheel speed pulse signals of a vehicle; identifying a coordinate position of the vehicle corresponding to each wheel speed pulse signal to obtain a plurality of coordinate positions of the vehicle; calculating a vehicle path corresponding to the plurality of coordinate positions through a preset path tracking algorithm, and controlling the vehicle to perform track reversing. The method of the embodiment of the application can realize track reversing only by memorizing a driving path through wheel speed pulse information, so that the complexity of track reversing is reduced and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method and apparatus for reversing using a tracking system. Background Technology

[0002] Currently, many vehicles are equipped with a reversing tracking system. This system uses the reversing assist function within the driver assistance system to record the driving route before reversing, and can automatically reverse the vehicle a corresponding distance without requiring the driver to control the steering wheel.

[0003] However, current reversing systems are often based on ultrasonic radar sensors placed around the vehicle and related hardware such as EPS (Electric Power Steering), ESC (Electronic Stability Controller), electronic gear shifter, and EPB (Electronic Parking Brake). The radar identifies and detects surrounding obstacles and space, and the vehicle's controllers then use the information to control the vehicle to perform parking actions, thus achieving the reversing function. This makes the reversing system complex and costly. Summary of the Invention

[0004] The purpose of this invention is to provide a method, apparatus, electronic device, and storage medium for reversing along a line, thereby reducing the cost of reversing along a line. The specific technical solution is as follows:

[0005] A first aspect of this application provides a reversing method based on a tracking line, the method comprising:

[0006] Acquire multiple wheel speed pulse signals of the vehicle;

[0007] Identify the vehicle's coordinate position corresponding to each wheel speed pulse signal to obtain multiple coordinate positions of the vehicle;

[0008] The vehicle path corresponding to the multiple coordinate positions is calculated using a preset path tracking algorithm, and the vehicle is controlled to reverse along the path.

[0009] In one possible implementation, acquiring multiple wheel speed pulse signals of the vehicle includes:

[0010] Obtain the vehicle's speed;

[0011] When the driving speed is less than a first preset speed threshold, multiple wheel speed pulse signals of the vehicle are acquired.

[0012] In one possible implementation, the step of calculating the vehicle path corresponding to the multiple coordinate positions using a preset path tracking algorithm and controlling the vehicle to reverse includes:

[0013] Get the reversing request sent by the user when the vehicle status is a preset state;

[0014] Based on the request from the reversing system, the vehicle path corresponding to the multiple coordinate positions is calculated using a preset path tracking algorithm, and the vehicle is controlled to reverse.

[0015] In one possible implementation, after obtaining the reversing request sent by the user when the vehicle status is a preset state, the method further includes:

[0016] Obtain vehicle operation information;

[0017] When any of the following operations are performed: handbrake engaged, accelerator pedal pressed, door not closed, gear shifting manually, seatbelt not fastened, actuator or controller malfunction, steering wheel turned, reverse tracking switch clicked, vehicle speeding, or deviation from the path, the vehicle enters the reverse tracking cancellation state.

[0018] In one possible implementation, the method further includes:

[0019] During the process of controlling the vehicle to perform a reverse tracking maneuver, obstacles around the vehicle body are detected;

[0020] When an obstacle is detected, control the vehicle to stop until the obstacle disappears.

[0021] A second aspect of this application provides a tracking reversing device, the device comprising:

[0022] The signal acquisition module is used to acquire multiple wheel speed pulse signals of the vehicle;

[0023] The coordinate recognition module is used to identify the vehicle's coordinate position corresponding to each wheel speed pulse signal, thereby obtaining multiple coordinate positions of the vehicle.

[0024] The reversing control module is used to calculate the vehicle path corresponding to the multiple coordinate positions through a preset path tracking algorithm, and control the vehicle to reverse along the line.

[0025] In one possible implementation, the signal acquisition module includes:

[0026] The driving speed acquisition submodule is used to acquire the vehicle's driving speed;

[0027] The pulse acquisition submodule is used to acquire multiple wheel speed pulse signals of the vehicle when the driving speed is less than a first preset speed threshold.

[0028] In one possible implementation, the reversing control module includes:

[0029] The request retrieval submodule is used to retrieve the reversing tracking request sent by the user when the vehicle status is in a preset state;

[0030] The path calculation submodule is used to calculate the vehicle path corresponding to the multiple coordinate positions according to the request of the tracking reversing system, and control the vehicle to reverse.

[0031] In one possible implementation, the device further includes:

[0032] The information acquisition module is used to acquire vehicle operation information;

[0033] The reversing cancellation module is used to enter the reversing cancellation state when the operation information is any of the following: the handbrake is engaged, the accelerator pedal is pressed, the door is not closed, the gear is manually shifted, the seat belt is not fastened, the actuator or controller fails, the steering wheel is turned, the reversing tracking switch is clicked, the vehicle is speeding, or the vehicle deviates from the path.

[0034] In one possible implementation, the device further includes:

[0035] The obstacle detection module is used to detect obstacles around the vehicle body during the process of controlling the vehicle to perform a reverse tracking maneuver.

[0036] The parking control module is used to stop the vehicle until the obstacle disappears when an obstacle is detected.

[0037] This invention also provides an electronic device, characterized in that it includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0038] Memory, used to store computer programs;

[0039] The processor, when executing a program stored in memory, implements any of the above-mentioned line-following reverse methods.

[0040] This invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the above-described line-following reversing methods.

[0041] This invention also provides a computer program product containing instructions that, when run on a computer, causes the computer to execute any of the above-described line-following reversing methods.

[0042] Beneficial effects of the embodiments of the present invention:

[0043] This invention provides a method, apparatus, electronic device, and storage medium for reversing along a track, comprising: acquiring multiple wheel speed pulse signals of a vehicle; identifying the coordinate position of the vehicle corresponding to each wheel speed pulse signal to obtain multiple coordinate positions of the vehicle; calculating the vehicle path corresponding to the multiple coordinate positions using a preset path tracking algorithm; and controlling the vehicle to perform reversing along a track. The method of this application embodiment only requires wheel speed pulse information to remember the driving path to achieve reversing along a track, thereby reducing the complexity and cost of reversing along a track.

[0044] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0046] Figure 1 A schematic flowchart of a reversing method for tracking provided in an embodiment of this application;

[0047] Figure 2 Another schematic flowchart of the line-following reversing method provided in the embodiments of this application;

[0048] Figure 3 A schematic diagram of the structure of the tracking reversing device provided in the embodiments of this application.

[0049] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of the present invention.

[0051] A first aspect of this application provides a line-following reversing method, see [link to previous section]. Figure 1 The above methods include:

[0052] Step S11: Acquire multiple wheel speed pulse signals of the vehicle;

[0053] Step S12: Identify the vehicle's coordinate position corresponding to each wheel speed pulse signal to obtain multiple coordinate positions of the vehicle;

[0054] Step S13: Calculate the vehicle path corresponding to multiple coordinate positions using a preset path tracking algorithm, and control the vehicle to reverse along the path.

[0055] The method described in this application is applied to a smart terminal, which can be used to implement the method. Specifically, the smart terminal can be installed on a vehicle, such as the vehicle's control unit, or it can be installed on a control unit independent of the vehicle, through which the control unit interacts with the vehicle for data exchange.

[0056] This process involves identifying the vehicle's coordinates corresponding to each wheel speed pulse signal, resulting in multiple vehicle coordinate positions. Coordinate identification can be performed based on the pulse signal, and a coordinate position is recorded at preset time intervals. For example, the vehicle's rear wheel speed pulse signal is converted into a coordinate signal, and a point is recorded every 1 meter, starting from the first point as A1(X1, Y1), A2(X2, Y2)...Ax(Xx, Yx).

[0057] The system employs a pre-defined path tracking algorithm to calculate the vehicle's path corresponding to multiple coordinate positions and controls the vehicle to perform line-following reversing maneuvers. The algorithm can control the vehicle's turning angle to complete the line-following process. The specific algorithm is as follows: Define a non-time reference scalar f, where f is a monotonically increasing function of time. The parking path is a spatial curve, independent of time, and the projection of the rear axle midpoint onto the X-axis is chosen as the reference.

[0058] The method described in this application embodiment only requires wheel speed pulse information to remember the driving path to achieve line-following reversing, thereby reducing the complexity and cost of line-following reversing.

[0059] In one possible implementation, acquiring multiple wheel speed pulse signals of a vehicle includes: acquiring the vehicle's driving speed; and acquiring multiple wheel speed pulse signals of the vehicle when the driving speed is less than a first preset speed threshold.

[0060] In one example, the vehicle startup process is included before the later vehicle status check, specifically: Power On: The ECU (domain controller) is powered on in ACC (Adaptive Cruise Control) mode; Self-Check: Radar and camera status checks are performed, and alarm information is issued according to fault diagnosis definitions; ECU Failure: When a fault occurs within the ECU, the system degrades accordingly based on the different fault levels and sends fault TC (Dynamic Stability Control) information; Standby: After a successful self-check, the system enters standby mode. The system does not output any information during this standby state.

[0061] The first preset speed threshold can be set according to actual usage. In one example, path recording begins when the driver's speed is less than or equal to 30 km / h. Conditions for exiting path recording include: vehicle speed greater than 30 km / h, the vehicle being detected as being in reverse (R) and deviating from the memorized path by a certain distance, causing it to be untrackable, or the vehicle losing power. During driving, if the vehicle speed is less than or equal to 30 km / h (which can be calibrated), path recording begins. The vehicle's rear wheel speed pulse signals are converted into coordinate signals, and a point is recorded every 1 meter, sequentially named A1(X1, Y1), A2(X2, Y2)...Ax(Xx, Yx). The maximum path that can be recorded is 50 meters, meaning a maximum of 50 points.

[0062] In one possible implementation, a preset path tracking algorithm is used to calculate the vehicle path corresponding to multiple coordinate positions, and the vehicle is controlled to reverse. This includes: obtaining a reversing request sent by the user when the vehicle is in a preset state; and, based on the reversing request, calculating the vehicle path corresponding to multiple coordinate positions using the preset path tracking algorithm, and controlling the vehicle to reverse.

[0063] In one example, a path tracking algorithm is used to control the vehicle's turning angle to complete the tracking process. The specific algorithm is as follows:

[0064] Define a non-time reference scalar f, where f is a monotonically increasing function over time. The parking path is a spatial curve, independent of time, and the projection of the midpoint of the rear axle onto the X-axis is chosen as the reference.

[0065] Vehicle path tracking deviation can be expressed as follows:

[0066] x = 0

[0067] e

[0068] y e =y r (x)-y(x)

[0069] θ e =θ r (x)-θ(x)

[0070] yr(x), θ r y(x) and θ(x) represent the ordinate and heading angle of the target position, respectively; y(x) and θ(x) represent the ordinate and heading angle of the current position, respectively. e For the lateral deviation of the vehicle, y e Vehicle longitudinal deviation, This represents the heading angle deviation.

[0071] The X-axis coordinate x of the vehicle's rear axle midpoint is selected as the non-time reference. The path tracking deviation function with x as the non-time reference can be expressed as:

[0072]

[0073]

[0074] Let x1 = yr - y, x2 = -(tanθ) r -tanθ),

[0075] Among them, y r Let y be the ordinate of the target position, y be the ordinate of the current position, and θ be the ordinate of the target position. r Let θ be the target heading angle, and θ be the current heading angle.

[0076] The path tracking deviation state equation can be expressed as:

[0077]

[0078]

[0079] By combining the equations of motion of the vehicle, we can obtain:

[0080]

[0081]

[0082] Where ρr is the proportionality coefficient. Where L is the vehicle yaw angle and L is the wheelbase, select the wheel steering control rate:

[0083]

[0084] The above expression can be transformed as follows:

[0085]

[0086]

[0087] Choosing k1>0 and k2>0, according to Lyapunov's first stability theorem, the origin is the only equilibrium point in the above equation.

[0088] Therefore, as the vehicle's X-coordinate decreases, the distance deviation along the vehicle's Y-axis gradually decreases, and the vehicle's symmetry line gradually becomes parallel to the tangent of the target path. As a result, the vehicle gradually approaches the target.

[0089] In one possible implementation, after obtaining the user's reversing request when the vehicle is in a preset state, the method further includes: obtaining the vehicle's operation information; and entering the cancel reversing state when the operation information is any of the following: the handbrake is engaged, the accelerator pedal is pressed, the door is not closed, the gear is manually shifted, the seat belt is not fastened, the actuator or controller fails, the steering wheel is turned, the reversing switch is clicked, the vehicle is speeding, or the path is deviated.

[0090] In one example, entering the reversing activation interface includes: a reversing interface with the reversing tracking switch in the reversing interface; if you enter the reversing interface, when the vehicle speed is greater than 30km / h, you will return to the main interface.

[0091] In one example, activating the reverse tracking function includes: before activating reverse tracking, it needs to be determined whether the vehicle is stationary. If the vehicle is not stationary, the reverse tracking switch is grayed out and cannot be activated; if there is no path, the activation switch is grayed out and cannot be clicked. Activation can only be performed after the path is memorized. After the function is activated, the remaining path distance is displayed on the screen; clicking the "Reverse Tracking" activation switch on the screen activates the function; and ESC (Electronic Stability Control) is used to activate the reverse tracking function. The system interacts with the controller (electronic stability control system), EPS (electric power steering system), etc. The reverse tracking speed is 3 km / h, the gear requirement is R (reverse), and the steering wheel angle is [-500°, 500°]. The following actions trigger the reverse tracking function: pulling the handbrake, pressing the accelerator pedal, door not closed, manual gear shifting, seatbelt not fastened, actuator / controller malfunction, turning the steering wheel, clicking the reverse tracking switch, vehicle speeding, or deviation from the path. Upon entering the canceled state, path recording resumes, the vehicle disengages, and the reverse tracking activation switch returns to its unactivated state. Clicking the reverse tracking activation switch allows the reverse tracking function to continue.

[0092] In one example, the system also includes clearing the memory path for situations where the path is executed, specifically including: before the reverse tracking is activated, the gear is detected as R and the vehicle deviates from the memory path by 2m, causing it to be unable to track || vehicle speed > 30km / h || power off || the steering wheel angle is too large, exceeding the actuator's operable angle [-500°, 500°], in which case the memory path is cleared; after clearing the memory path, the system enters standby mode.

[0093] In one possible implementation, the method further includes: detecting obstacles around the vehicle body while controlling the vehicle to perform line-following reversing; and when an obstacle is detected, controlling the vehicle to stop until the obstacle disappears.

[0094] In one example, during the reversing process, if no obstacle is encountered, the system exits after completing the reversing process; if an obstacle is encountered, the system stops and waits, and if the obstacle disappears within 45 seconds, the system continues reversing, exiting after completing the reversing process; if an obstacle is encountered, the system stops and waits, and if the obstacle does not disappear after 45 seconds, the system exits; if the brake is applied for more than 45 seconds, the system exits.

[0095] To illustrate the methods of the embodiments of this application, the following description is provided in conjunction with specific examples. (See attached examples.) Figure 2 ,include:

[0096] 1) Power On: The ECU (domain controller) is powered on in ACC (Adaptive Cruise Control) mode;

[0097] 2) Self-Check: Detects the status of radar and cameras, and issues alarm information based on the fault diagnosis definition;

[0098] 3) ECU Failure: When an internal ECU failure occurs, the system will downgrade accordingly based on the severity of the failure. A fault report (DTC) will be sent.

[0099] 4) Standby: After a successful self-test, the system enters standby mode. No output is made by the system.

[0100] 5) Route recording: Route recording begins when the driver's speed is less than or equal to 30 km / h; conditions for exiting route recording include: vehicle speed greater than 30 km / h, gear detected as R and the vehicle deviating from the memorized route by a certain distance, causing it to be untrackable, vehicle power failure, etc.

[0101] A: During the journey, if the vehicle speed is less than or equal to 30km / h (can be calibrated), the route will be recorded.

[0102] B: The vehicle's rear wheel speed pulse signal is converted into a coordinate signal, and a point is recorded every 1m, starting from the first point as A1(X1, Y1), A2(X2, Y2)...Ax(Xx, Yx). The maximum path that can be recorded is 50m, meaning a maximum of 50 points.

[0103] 6) Enter the reverse tracking activation interface:

[0104] A: Reversing interface, the reversing tracking switch is in the reversing interface;

[0105] B: If you enter the reversing interface, the in-car MP5 will return to the main interface when the vehicle speed is greater than 30km / h.

[0106] 7) Activate the reversing tracking function:

[0107] A: Before activating the reverse tracking function, you need to determine whether the vehicle is stationary. If the vehicle is not stationary, the reverse tracking switch will be grayed out and cannot be activated.

[0108] B: When there is no path, the activation switch is grayed out and cannot be clicked. Activation can only be performed after the path is memorized. After the function is activated, the remaining path distance is displayed on the screen.

[0109] C: Click the "Trajectory Reverse" activation switch on the MP5 screen to activate the function; it will interact with ESC, EPS, etc. The trajectory reverse speed is 3km / h, the gear requirement is R, and the steering wheel angle is [-500°, 500°].

[0110] D: Handbrake engaged | Accelerator pedal pressed | Door not closed | Gear shifted manually | Seatbelt not fastened | Actuator or controller malfunction | Steering wheel turned | Reverse tracking switch activated | Vehicle speeding | Deviation from path, entering cancel state;

[0111] E: After entering the cancellation state, the path recording will continue first, the vehicle will release the handshake, and the "track reversing" activation switch will return to its unactivated state; after clicking the activation switch for track reversing, the track reversing function can continue to be executed.

[0112] 8) Clear memory path:

[0113] A: Before the reverse tracking is activated, the gear detection is in R gear and the vehicle deviates from the memory path by 2m, causing it to be unable to track || Vehicle speed > 30km / h || Power off || Steering wheel angle is too large, exceeding the actuator's operable angle [-500°, 500°], above which the memory path will be cleared;

[0114] B: After clearing the memory path, it enters standby mode.

[0115] 9) Perform reverse tracking:

[0116] The path tracking algorithm controls the vehicle's turning angle to complete the tracking process. The specific algorithm is as follows:

[0117] Define a non-time reference scalar f, where f is a monotonically increasing function over time. The parking path is a spatial curve, independent of time, and the projection of the midpoint of the rear axle onto the X-axis is chosen as the reference.

[0118] Vehicle path tracking deviation can be expressed as follows:

[0119] x = 0

[0120] e

[0121] y e =y r (x)-y(x)

[0122] θ e =θ r (x)-θ(x)

[0123] yr(x), θ r y(x) and θ(x) represent the ordinate and heading angle of the target position, respectively; y(x) and θ(x) represent the ordinate and heading angle of the current position, respectively. e For the lateral deviation of the vehicle, ye Vehicle longitudinal deviation, This represents the heading angle deviation.

[0124] The X-axis coordinate x of the vehicle's rear axle midpoint is selected as the non-time reference. The path tracking deviation function with x as the non-time reference can be expressed as:

[0125]

[0126]

[0127] Let x1 = yr - y, x2 = -(tanθ) r -tanθ),

[0128] Among them, y r Let y be the ordinate of the target position, y be the ordinate of the current position, and θ be the ordinate of the target position. r Let θ be the target heading angle, and θ be the current heading angle.

[0129] The path tracking deviation state equation can be expressed as:

[0130]

[0131]

[0132] By combining the equations of motion of the vehicle, we can obtain:

[0133]

[0134]

[0135] Where ρr is the proportionality coefficient. Where L is the vehicle yaw angle and L is the wheelbase, select the wheel steering control rate:

[0136]

[0137] The above expression can be transformed as follows:

[0138]

[0139]

[0140] Choosing k1>0 and k2>0, according to Lyapunov's first stability theorem, the origin is the only equilibrium point in the above equation.

[0141] Therefore, as the vehicle's X-coordinate decreases, the distance deviation along the vehicle's Y-axis gradually decreases, and the vehicle's symmetry line gradually becomes parallel to the tangent of the target path. As a result, the vehicle gradually approaches the target.

[0142] A: No obstacles were encountered. After completing the tracking, the reversing system was disengaged.

[0143] B: When encountering an obstacle, stop and wait. If the obstacle disappears within 45 seconds, continue with the reverse tracking. After completing the tracking, exit the reverse tracking system.

[0144] C: If an obstacle is encountered, stop and wait. If the obstacle does not disappear after 45 seconds, exit the reversing system.

[0145] D: Exit by pressing the brake for more than 45 seconds.

[0146] A second aspect of this application provides a tracking reversing device, see [link to relevant documentation]. Figure 3 The aforementioned device includes:

[0147] The signal acquisition module 301 is used to acquire multiple wheel speed pulse signals of the vehicle;

[0148] The coordinate recognition module 302 is used to identify the vehicle's coordinate position corresponding to each wheel speed pulse signal, thereby obtaining multiple coordinate positions of the vehicle.

[0149] The reversing control module 303 is used to calculate the vehicle path corresponding to multiple coordinate positions through a preset path tracking algorithm, and control the vehicle to reverse along the line.

[0150] In one possible implementation, the signal acquisition module includes:

[0151] The driving speed acquisition submodule is used to acquire the vehicle's driving speed;

[0152] The pulse acquisition submodule is used to acquire multiple wheel speed pulse signals of the vehicle when the driving speed is less than a first preset speed threshold.

[0153] In one possible implementation, the reversing control module includes:

[0154] The request retrieval submodule is used to retrieve the reversing tracking request sent by the user when the vehicle status is in a preset state;

[0155] The path calculation submodule is used to calculate the vehicle path corresponding to multiple coordinate positions based on the request from the reversing system, using a preset path tracking algorithm, and then control the vehicle to reverse.

[0156] In one possible implementation, the device further includes:

[0157] The information acquisition module is used to acquire vehicle operation information;

[0158] The reversing cancellation module is used to cancel the reversing state when any of the following operation information is present: the handbrake is engaged, the accelerator pedal is pressed, the door is not closed, the gear is manually shifted, the seat belt is not fastened, the actuator or controller fails, the steering wheel is turned, the reversing tracking switch is clicked, the vehicle is speeding, or the vehicle deviates from the path.

[0159] In one possible implementation, the device further includes:

[0160] The obstacle detection module is used to detect obstacles around the vehicle body during the process of controlling the vehicle to reverse along a line;

[0161] The parking control module is used to stop the vehicle until the obstacle disappears when an obstacle is detected.

[0162] The device in this application embodiment only needs wheel speed pulse information to remember the driving path to realize line-following reversing, thereby reducing the complexity and cost of line-following reversing.

[0163] This invention also provides an electronic device, such as... Figure 4 As shown, it includes a processor 401, a communication interface 402, a memory 403, and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404.

[0164] Memory 403 is used to store computer programs;

[0165] When processor 401 executes the program stored in memory 403, it performs the following steps:

[0166] Acquire multiple wheel speed pulse signals of the vehicle;

[0167] Identify the vehicle's coordinate position corresponding to each wheel speed pulse signal to obtain multiple coordinate positions of the vehicle;

[0168] The system uses a preset path tracking algorithm to calculate the vehicle path corresponding to multiple coordinate positions and controls the vehicle to reverse along the path.

[0169] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0170] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0171] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0172] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0173] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described line-following reversing methods.

[0174] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the line-following reversing methods described above.

[0175] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0176] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0177] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, storage media, and computer program products are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0178] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A method of backing along a track, characterized by, The method comprises: acquiring a plurality of wheel speed pulse signals of a vehicle; identifying a coordinate position of the vehicle corresponding to each wheel speed pulse signal to obtain a plurality of coordinate positions of the vehicle; the coordinate position is converted into a coordinate signal by collecting a rear wheel speed pulse signal of the vehicle, and a point is recorded every 1 m, and the first point is A1(X1, Y1), A2(X2, Y2)…Ax(Xx, Yx) in turn; the maximum path that can be recorded is 50 m, that is, a maximum of 50 points; calculating a vehicle path corresponding to the plurality of coordinate positions by a preset path tracking algorithm, and controlling the vehicle to perform a loop tracking reverse; the path tracking algorithm is specifically as follows: a non-time reference scalar f is defined, f is a time monotonic increasing function, a parking path is a spatial curve, and a projection of a midpoint of a rear axle on an X axis is selected as a reference quantity; a vehicle path tracking deviation can be expressed as follows: x e ＝0； y e = y r (x) - y(x); θe = θ r (x) - θ(x); y r (x), θ r (x) are the longitudinal coordinate and the target heading angle of the target position, y(x), θ(x) are the longitudinal coordinate and the heading angle of the current position; x e is the lateral deviation of the vehicle, y e is the longitudinal deviation of the vehicle, θe is the heading angle deviation; an X axis coordinate x of a midpoint of a rear axle of the vehicle is selected as a non-time reference quantity, and a path tracking deviation function with x as a non-time reference quantity can be expressed as: ； Let x1 = y r - y, x2 = -(tan θr - tan θ), where y r is the longitudinal coordinate of the target position, y is the longitudinal coordinate of the current position, θr is the target heading angle, and θ is the current heading angle. a path tracking deviation state equation can be expressed as: ； a simultaneous equation can be obtained from an automobile kinematics equation as follows: ； wherein p r is a proportionality coefficient, is the vehicle yaw angle, L is the wheelbase, and the wheel angle control rate is selected: ； the above formula is converted as follows: ； k1>0 and k2>0 are selected, and according to the first stability theorem of Lyapunov, the origin is a unique equilibrium point of the above formula.

2. The method of claim 1, wherein, The acquiring of the plurality of wheel speed pulse signals of the vehicle comprises: acquiring a driving speed of the vehicle; when the driving speed is less than a first preset speed threshold, acquiring the plurality of wheel speed pulse signals of the vehicle.

3. The method of claim 1, wherein, The calculating of the vehicle path corresponding to the plurality of coordinate positions by the preset path tracking algorithm, and the controlling of the vehicle to perform the reverse, comprises: acquiring a loop tracking reverse request sent by a user when a vehicle state is a preset state; according to the loop tracking reverse system request, calculating the vehicle path corresponding to the plurality of coordinate positions by the preset path tracking algorithm, and controlling the vehicle to perform the reverse.

4. The method of claim 3, wherein, After the acquiring of the loop tracking reverse request sent by the user when the vehicle state is the preset state, the method further comprises: acquiring operation information of the vehicle; when the operation information is any one of the following: a handbrake is pulled, a gas pedal is stepped on, a door is not closed, a manual gear is shifted, a safety belt is not buckled, an actuator or a controller is failed, a steering wheel is turned, a loop tracking reverse switch is clicked, the vehicle is overspeed, and a path is deviated, entering a loop tracking reverse cancellation state.

5. The method of claim 1, wherein, The method further comprises: detecting an obstacle around a vehicle body during the controlling of the vehicle to perform the loop tracking reverse; when the obstacle is detected, controlling the vehicle to stop until the obstacle disappears.

6. A tracking reversing device for carrying out the method according to any one of claims 1 to 5, characterized in that The device comprises: a signal acquisition module configured to acquire a plurality of wheel speed pulse signals of a vehicle; a coordinate identification module configured to identify a coordinate position of the vehicle corresponding to each wheel speed pulse signal to obtain a plurality of coordinate position of the vehicle; a reverse control module configured to calculate a vehicle path corresponding to the plurality of coordinate positions by a preset path tracking algorithm, and control the vehicle to perform a loop tracking reverse.

7. The apparatus of claim 6, wherein, The signal acquisition module comprises: a driving speed acquisition submodule configured to acquire a driving speed of the vehicle; a pulse acquisition submodule configured to acquire a plurality of wheel speed pulse signals of the vehicle when the driving speed is less than a first preset speed threshold.

8. The apparatus of claim 6, wherein, The reverse control module comprises: The request acquisition submodule is used for acquiring a tracking reverse request sent by a user when a vehicle state is a preset state; The path calculation submodule is used for calculating a vehicle path corresponding to the plurality of coordinate positions according to the tracking reverse system request through a preset path tracking algorithm, and controlling the vehicle to reverse.

9. The apparatus of claim 8, wherein, The device further comprises: The information acquisition module is used for acquiring operation information of the vehicle; The reverse cancellation module is used for entering a tracking reverse cancellation state when the operation information is any one of the following: handbrake is pulled, accelerator pedal is stepped on, vehicle door is not closed, manual gear shifting, safety belt is not buckled, actuator or controller is invalid, steering wheel is turned, tracking reverse switch is clicked, vehicle is overspeed, and path is deviated.

10. The apparatus of claim 6, wherein, The device further comprises, comprising: The obstacle detection module is used for detecting obstacles around the vehicle body during the tracking reverse process of the vehicle; The parking control module is used for controlling the vehicle to park until the obstacles disappear when the obstacles are detected.

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