Control system, method and related equipment for assisting vehicle reversing

Abstract

The present invention provides a control system, method, and related equipment for assisting a vehicle in reversing, comprising: a vehicle information acquisition module for acquiring the current position and body information of a vehicle, wherein the vehicle includes a driving segment and a driven segment connected to the driving segment; and a vehicle position estimation module for calculating the vehicle's position at the next moment based on the vehicle's reversing distance, the current position and body information, to assist the driver in safely and accurately controlling the vehicle in reverse. The present invention can assist the driver in safely and accurately completing reverse maneuvers.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a control system, method and related equipment for assisting vehicle reversing. Background Art

[0002] Tractors are widely used in areas such as container transport, express delivery, large cargo transport, and trailered RVs, and are a common form of vehicle in road transport. Because trailers connected to tractors typically have long wheelbases and large turning radii, drivers have difficulty observing their surroundings, estimating the vehicle's position and driving area, and driving is more challenging. Especially during reversing, the trailer's direction of travel is not completely positively correlated with the steering wheel angle controlled by the driver. Unlike conventional vehicles, the direction of travel cannot be estimated based on the steering wheel angle. Therefore, safely and accurately controlling the direction of the tractor and trailer is difficult.

[0003] To address the above issues, existing reversing control methods for tractors and trailers include: 1) installing a retractable camera on the tractor to assist the driver in observing the vehicle's surroundings; 2) installing cameras in the front, rear, left, and right directions of the tractor to capture images of the vehicle's surroundings and display them in the cockpit to help the driver observe the surroundings; 3) using images captured by cameras on the front, left, and upper right of the tractor and the rear camera of the trailer to synthesize a 270-degree overhead view of the vehicle to observe the vehicle's driving status; 4) marking the inner and outer wheel differences of the vehicle based on the captured images of the tractor's driving to reduce traffic accidents caused by blind spots. Therefore, it can be seen that existing reversing control methods all rely on capturing images of the vehicle's surroundings to assist the driver in control. However, when the tractor is reversing the trailer, the steering wheel angle is not completely positively correlated with the direction of the trailer, making it difficult for the driver to predict the direction of the trailer, and it is difficult to control the direction during the reversing process. At the same time, since the vehicle with a trailer is long and the tractor and trailer are connected in an articulated form, in the absence of auxiliary devices, it is difficult for the driver to observe the surrounding environment, and it is also difficult for people around the vehicle to judge the vehicle's driving area. Therefore, there are still certain safety risks during the reversing process. Summary of the Invention

[0004] The present invention provides a control system, method and related equipment for assisting vehicle reversing, so as to solve the above problems.

[0005] The present invention provides a control system for assisting a vehicle in reversing, comprising:

[0006] A vehicle information acquisition module is configured to acquire the vehicle's current position and posture information and body information; wherein the vehicle comprises a driving joint and a driven joint connected to the driving joint; the current position and posture information comprises the current position and heading information of the driving joint and the current heading information of the driven joint; the body information comprises joint information and connection information between the driving joint and the driven joint;

[0007] A vehicle posture estimation module is used to calculate the vehicle's posture information at the next moment based on the vehicle's reversing distance, the current posture information, and the vehicle body information, so as to assist the driver in performing safe and accurate reversing control;

[0008] The position information at the next moment includes the position information and heading information of the driving vehicle segment at the next moment and the position information and heading information of the driven vehicle segment at the next moment;

[0009] The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment;

[0010] The heading information of the driving segment at the next moment is calculated based on the heading information of the driving segment at the current moment, the reversing distance of the vehicle, and the segment information;

[0011] The heading information of the slave joint at the next moment is calculated based on the heading information of the slave joint at the current moment, the heading information of the driving joint at the current moment, the heading information of the driving joint at the next moment, the reversing distance of the vehicle, the joint information, and the connection information between the driving joint and the slave joint;

[0012] The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information.

[0013] According to a control system for assisting vehicle reversing provided by the present invention, the position information of the driving joint at the current moment is the position of the center point of the driving joint at the current moment, and the coordinates of the center point position of the driving joint at the current moment include a first horizontal coordinate and a first vertical coordinate; correspondingly, the position information of the driving joint at the next moment is the position of the center point of the driving joint at the next moment, and the coordinates of the center point position of the driving joint at the next moment include a second horizontal coordinate and a second vertical coordinate; the position information of the driven joint at the next moment is the position of the center point of the driven joint at the next moment, and the coordinates of the center point position of the driven joint at the next moment include a third horizontal coordinate and a third vertical coordinate;

[0014] The vehicle segment information includes the tire rotation angle of the driving vehicle segment, the driving vehicle segment wheelbase and the driven vehicle segment wheelbase; the connection information includes the intersection distance between the driving vehicle segment center point and the intersection point, and the intersection point is the connection point between the driving vehicle segment and the driven vehicle segment;

[0015] The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment, and the heading information of the driven vehicle segment at the current moment includes the heading angle of the driven vehicle segment at the current moment;

[0016] The vehicle posture estimation module includes:

[0017] a position calculation unit for the driving segment at the next moment, for calculating, based on the heading angle of the driving segment at the current moment and the reversing distance of the vehicle, a first travel component and a second travel component of the reversing distance of the vehicle using a cosine function and a sine function, respectively, taking the sum of the first travel component and the first abscissa as the second abscissa, and taking the sum of the second travel component and the first ordinate as the second ordinate;

[0018] The heading calculation unit for the next driving segment is used to obtain the tangent value of the tire rotation angle and the driving ratio between the vehicle's reverse distance and the driving segment wheelbase, and add the product of the tangent value and the driving ratio to the heading angle of the driving segment at the current moment to obtain the heading angle of the driving segment at the next moment;

[0019] a heading calculation unit for the next driven joint, configured to obtain a joint heading angle difference between the heading angle of the driven joint at the current moment and the heading angle of the driving joint at the current moment, a driving heading angle difference between the heading angle of the driving joint at the next moment and the heading angle of the driving joint at the current moment, a turning radius of the intersection, and a driving ratio between the vehicle's reversing distance and the driving joint wheelbase; calculate the product of the sine value of the joint heading angle difference and the driving heading angle difference, the turning radius, and the driving ratio; and use the sum of the calculated product and the heading angle of the driven joint at the current moment as the heading angle of the driven joint at the next moment; wherein the turning radius is calculated based on the tire rotation angle, the driving joint wheelbase, and the intersection distance;

[0020] The position calculation unit of the driven joint at the next moment is used to calculate the first intersection component and the second intersection component of the intersection distance, the first driven component and the second driven component of the driven joint wheelbase through the cosine function and the sine function according to the heading angle of the driving joint at the next moment and the heading angle of the driven joint at the next moment; add the difference between the first intersection component and the first driven component to the second horizontal coordinate to obtain the third horizontal coordinate; subtract the sum of the second intersection component and the second driven component from the second vertical coordinate to obtain the third vertical coordinate.

[0021] According to a control system for assisting vehicle reversing provided by the present invention, the control system further includes a first display module and a second display module, and the vehicle posture estimation module includes a driving trajectory acquisition unit;

[0022] The driving trajectory acquisition unit obtains the vehicle's driving trajectory by iteratively integrating the posture information at the next moment based on the set reversing distance of the vehicle;

[0023] The first display module is arranged inside the driving section and is used to display the driving trajectory to the driver;

[0024] The second display module is arranged on the driving vehicle segment and / or the driven vehicle segment, and is used to project the driving trajectory around the vehicle to provide prompts to people around the vehicle.

[0025] According to a control system for assisting vehicle reversing provided by the present invention, the control system further includes an image acquisition unit, a first environment perception unit and a second environment perception unit;

[0026] The image acquisition unit is arranged around the driving section and is used to collect image information around the vehicle, the image information including the top view image of the vehicle and images on both sides of the vehicle;

[0027] The first environment sensing unit is arranged around the driving vehicle section and is used to collect information about objects around the vehicle;

[0028] The second environment sensing unit is arranged around the driving vehicle segment and the driven vehicle segment and is used to collect information about obstacles approaching the vehicle;

[0029] The first display module is further used to display the image information, object information and obstacle information.

[0030] According to a control system for assisting vehicle reversing provided by the present invention, the second environment perception unit is further used to send obstacle warning information to the first display module to remind the driver when the distance between the obstacle and the vehicle is less than a preset threshold.

[0031] According to a control system for assisting vehicle reversing provided by the present invention, the vehicle segment information includes a driven vehicle segment traction angle, and the vehicle posture estimation module includes a traction angle monitoring unit;

[0032] The traction angle monitoring unit is used to monitor in real time whether the traction angle of the driven vehicle joint exceeds an angle threshold, and generate traction angle warning information to prompt the driver when the traction angle of the driven vehicle joint exceeds the angle threshold;

[0033] The angle threshold is calculated based on the minimum turning radius of the intersection and the wheelbase of the driving vehicle.

[0034] According to a control system for assisting vehicle reversing provided by the present invention, the vehicle information acquisition module includes:

[0035] A steering wheel information acquisition unit is provided inside the driving section and is used to acquire steering wheel angle information and convert the steering wheel angle information into a tire rotation angle of the driving section;

[0036] A traction angle acquisition unit is provided at the connection between the driving segment and the driven segment, and is used to acquire the traction angle of the first driven segment;

[0037] The wheel speed acquisition unit is provided on the driving vehicle joint and the driven vehicle joint, and is used for acquiring the wheel speed of the driving vehicle joint and the wheel speed of the driven vehicle joint.

[0038] The present invention also provides a control method for assisting a vehicle in reversing, comprising:

[0039] Obtaining the current position information and body information of the vehicle; wherein the vehicle includes a driving vehicle segment and a driven vehicle segment connected to the driving vehicle segment; the current position information includes the current position information and heading information of the driving vehicle segment and the current heading information of the driven vehicle segment; the body information includes vehicle segment information and connection information between the driving vehicle segment and the driven vehicle segment;

[0040] Calculating the vehicle's next-moment position information based on the vehicle's reversing distance, the current-moment position information, and the vehicle body information to assist the driver in safely and accurately reversing the vehicle;

[0041] The position information at the next moment includes the position information and heading information of the driving vehicle segment at the next moment and the position information and heading information of the driven vehicle segment at the next moment;

[0042] The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment;

[0043] The heading information of the driving segment at the next moment is calculated based on the heading information of the driving segment at the current moment, the reversing distance of the vehicle, and the segment information;

[0044] The heading information of the slave joint at the next moment is calculated based on the heading information of the slave joint at the current moment, the heading information of the driving joint at the current moment, the heading information of the driving joint at the next moment, the reversing distance of the vehicle, the joint information, and the connection information between the driving joint and the slave joint;

[0045] The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information.

[0046] According to a control method for assisting vehicle reversing provided by the present invention, the position information of the driving joint at the current moment is the position of the center point of the driving joint at the current moment, and the coordinates of the center point position of the driving joint at the current moment include a first horizontal coordinate and a first vertical coordinate; correspondingly, the position information of the driving joint at the next moment is the position of the center point of the driving joint at the next moment, and the coordinates of the center point position of the driving joint at the next moment include a second horizontal coordinate and a second vertical coordinate; the position information of the driven joint at the next moment is the position of the center point of the driven joint at the next moment, and the coordinates of the center point position of the driven joint at the next moment include a third horizontal coordinate and a third vertical coordinate;

[0047] The vehicle segment information includes the tire rotation angle of the driving vehicle segment, the driving vehicle segment wheelbase and the driven vehicle segment wheelbase; the connection information includes the intersection distance between the driving vehicle segment center point and the intersection point, and the intersection point is the connection point between the driving vehicle segment and the driven vehicle segment;

[0048] The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment, and the heading information of the driven vehicle segment at the current moment includes the heading angle of the driven vehicle segment at the current moment;

[0049] According to the heading angle of the driving vehicle segment at the current moment and the reversing distance of the vehicle, the first and second driving components of the reversing distance of the vehicle are calculated using the cosine function and the sine function respectively, the sum of the first driving component and the first horizontal coordinate is used as the second horizontal coordinate, and the sum of the second driving component and the first vertical coordinate is used as the second vertical coordinate;

[0050] Obtain the tangent value of the tire rotation angle and the drive ratio between the vehicle's reverse distance and the wheelbase of the driving segment. Add the product of the tangent value and the drive ratio to the heading angle of the driving segment at the current moment to obtain the heading angle of the driving segment at the next moment.

[0051] Obtain the vehicle segment heading angle difference between the heading angle of the driven vehicle segment at the current moment and the heading angle of the driving vehicle segment at the current moment, the driving heading angle difference between the heading angle of the driving vehicle segment at the next moment and the heading angle of the driving vehicle segment at the current moment, the turning radius of the intersection, and the driving ratio between the vehicle's reversing distance and the driving vehicle segment wheelbase; calculate the product of the sine value of the vehicle segment heading angle difference and the driving heading angle difference, the turning radius, and the driving ratio; and use the sum of the calculated product and the heading angle of the driven vehicle segment at the current moment as the heading angle of the driven vehicle segment at the next moment; wherein the turning radius is calculated based on the tire rotation angle, the driving vehicle segment wheelbase, and the intersection distance;

[0052] According to the heading angle of the driving vehicle segment at the next moment and the heading angle of the driven vehicle segment at the next moment, the first intersection component and the second intersection component of the intersection distance and the first driven component and the second driven component of the driven vehicle segment wheelbase are calculated respectively by the cosine function and the sine function; the difference between the first intersection component and the first driven component is added to the second horizontal coordinate to obtain the third horizontal coordinate; the sum of the second intersection component and the second driven component is subtracted from the second vertical coordinate to obtain the third vertical coordinate.

[0053] According to a control method for assisting a vehicle in reversing provided by the present invention, after calculating the vehicle's posture information at a next moment based on the current posture information and vehicle body information, the method further includes:

[0054] An iterative integral calculation is performed on the posture information at the next moment to obtain the vehicle's driving trajectory; the driving trajectory is displayed to the driver inside the driving vehicle section and projected around the vehicle.

[0055] According to a control method for assisting a vehicle in reversing provided by the present invention, the method further includes:

[0056] Collecting image information around the vehicle by an image acquisition unit, wherein the image information includes an overhead image of the vehicle and images on both sides of the vehicle;

[0057] Collecting information about objects around the vehicle through the first environment perception unit;

[0058] Collecting obstacle information close to the vehicle through the second environment perception unit;

[0059] The image information, object information and obstacle information are displayed through the first display module.

[0060] According to a control method for assisting a vehicle in reversing provided by the present invention, the method further includes:

[0061] Real-time monitoring of whether the traction angle of the driven train section exceeds an angle threshold, and generating traction angle warning information to alert the driver when the traction angle of the driven train section exceeds the angle threshold;

[0062] The angle threshold is calculated based on the minimum turning radius of the intersection and the wheelbase of the driving vehicle.

[0063] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method for assisting vehicle reversing as described above is implemented.

[0064] The present invention also provides a vehicle comprising the above-mentioned electronic device.

[0065] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method for assisting vehicle reversing as described above is implemented.

[0066] The present invention provides a control system, method and related equipment for assisting vehicle reversing, wherein the control system for assisting vehicle reversing estimates the heading and position of the driving vehicle segment and the driven vehicle segment at the next moment based on the vehicle's current posture information and body information, and can be used to show the driver the position and heading of the vehicle at the next moment if the current vehicle control instructions (such as vehicle speed, steering wheel steering, etc.) are followed, thereby assisting the driver to complete the reversing operation safely and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0068] Figure 1 This is one of the structural diagrams of a control system for assisting vehicle reversing provided by an embodiment of the present invention;

[0069] Figure 2 This is a second structural diagram of a control system for assisting vehicle reversing provided by an embodiment of the present invention;

[0070] Figure 3 This is a schematic diagram of the angular relationship between the driving segment and the driven segment provided by an embodiment of the present invention;

[0071] Figure 4 This is one of the driving trajectory schematic diagrams provided by an embodiment of the present invention;

[0072] Figure 5 This is the second driving trajectory schematic diagram provided by an embodiment of the present invention;

[0073] Figure 6 1 is a flow chart of a control method for assisting a vehicle in reversing provided by an embodiment of the present invention;

[0074] Figure 7 The following is a schematic diagram of the physical structure of an electronic device. DETAILED DESCRIPTION

[0075] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0076] Figure 1 This is one of the structural diagrams of a control system for assisting vehicle reversing provided by an embodiment of the present invention. Figure 2 FIG2 is a second structural diagram of a control system for assisting a vehicle in reversing according to an embodiment of the present invention; Figure 1 as well as Figure 2 As shown, the control system for assisting a vehicle in reversing includes a vehicle information acquisition module 11 and a vehicle posture estimation module 12 .

[0077] The vehicle information acquisition module 11 is used to obtain the vehicle's current position information and body information.

[0078] In which, the vehicle includes a driving vehicle joint and a driven vehicle joint (such as a trailer, etc.) connected to the driving vehicle joint (such as a truck, a tractor, etc.). The connection method between the driving vehicle joint and the driven vehicle joint can be an articulated connection, or it can be other connection methods that make the direction of the driven vehicle joint not completely positively correlated with the direction of the driving vehicle joint.

[0079] The current posture information includes the position information and heading information of the driving vehicle segment at the current moment and the heading information of the driven vehicle segment at the current moment. The vehicle body information includes vehicle segment information and connection information between the driving vehicle segment and the driven vehicle segment.

[0080] The vehicle posture estimation module 12 is used to calculate the vehicle's posture information at the next moment based on the vehicle's reversing distance, the current posture information and the vehicle body information, so as to assist the driver in performing safe and accurate reversing control.

[0081] The next-moment position information includes the position and heading information of the driving vehicle segment at the next moment and the position and heading information of the driven vehicle segment at the next moment. The vehicle's reversing distance refers to the set reversing distance. The vehicle position estimation module 12 estimates the state of the driving vehicle segment and the driven vehicle segment during the reversing process (i.e., the next-moment position information). The driver observes whether the current steering wheel and other control operations can complete reversing safely and accurately based on the estimated next-moment position information, which also facilitates timely adjustment of the current vehicle control behavior.

[0082] The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment.

[0083] The heading information of the driving vehicle segment at the next moment is calculated based on the heading information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the vehicle segment information.

[0084] As can be seen from the above, the state of the driving joint at the next moment can be calculated based on the current state of the driving joint, and it is completely positively correlated with the vehicle control commands issued by the driver. The traction angle between the driven joint and the driving joint changes with the driving direction, resulting in an incomplete positive correlation between the driving direction and position of the driven joint and the vehicle control commands issued by the driver. Therefore, to accurately estimate the position information of the driven joint at the next moment, it is also necessary to take into account the connection information between the driving joint and the driven joint.

[0085] Among them, the heading information of the driven vehicle segment at the next moment is calculated based on the heading information of the driven vehicle segment at the current moment, the heading information of the driving vehicle segment at the current moment, the heading information of the driving vehicle segment at the next moment, the reversing distance of the vehicle, the vehicle segment information, and the connection information between the driving vehicle segment and the driven vehicle segment.

[0086] The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information.

[0087] The control system for assisting vehicle reversing provided by an embodiment of the present invention estimates the heading and position of the driving vehicle segment and the driven vehicle segment at the next moment based on the vehicle's current posture information and body information. It can be used to show the driver the vehicle's position and heading at the future moment if the current vehicle control instructions (such as vehicle speed, steering wheel steering, etc.) are followed, thereby assisting the driver to complete the reversing operation safely and accurately.

[0088] Furthermore, based on the above embodiment, the position information of the driving segment at the current moment is the center point position of the driving segment at the current moment, and the coordinates of the center point position of the driving segment at the current moment include the first horizontal coordinate x 1,t With the first ordinate y 1,t .

[0089] Correspondingly, the position information of the driving segment at the next moment is the center point position of the driving segment at the next moment, and the coordinates of the center point position of the driving segment at the next moment include the second horizontal coordinate x 1,t+1 and the second ordinate y 1,t+1 .

[0090] The position information of the slave train segment at the next moment is the center point position of the slave train segment at the next moment, and the coordinates of the center point position of the slave train segment at the next moment include the third horizontal coordinate x 2,t+1 and the third ordinate y 2,t+1 .

[0091] It should be noted that, in the case of a two-axle vehicle (including a front axle and a rear axle), the center point of the driving joint specifically refers to the center point of the rear axle of the driving joint; in the case of a multi-axle vehicle, the center point of the driving joint specifically refers to the position averaged from the multiple axles of the driving joint to the intermediate axis. Similarly, in the case of a two-axle vehicle, the center point of the driven joint specifically refers to the center point of the rear axle of the driven joint; in the case of a multi-axle vehicle, the center point of the driven joint specifically refers to the position averaged from the multiple axles of the multiple joints to the intermediate axis. The first, second, and third abscissas are all lateral positions, and the first, second, and third ordinates are all longitudinal positions. Furthermore, the coordinate positions of each center point here are obtained within a global coordinate system, which can be established based on the current position of the driving joint using a global positioning device deployed on the driving joint or using cameras and lidar.

[0092] The vehicle segment information includes the tire rotation angle δ of the driving vehicle segment, the wheelbase L1 of the driving vehicle segment, and the wheelbase L3 of the driven vehicle segment. Among them, the tire rotation angle δ of the driving vehicle segment specifically refers to the front wheel rotation angle of the driving vehicle segment (referring to the wheel close to the front of the driving vehicle segment), which is obtained by converting the steering wheel angle information. Among them, the tire rotation angle δ, the wheelbase L1 of the driving vehicle segment, the wheelbase L3 of the driven vehicle segment, the current driving vehicle segment heading angle The heading angle of the locomotive at the current moment and the driven train traction angle α t+1 The relationship between Figure 3 As shown, where "o" is the turning center.

[0093] The connection information includes the intersection distance L2 between the center point of the driving vehicle joint and the intersection point, and the intersection point is the connection point between the driving vehicle joint and the driven vehicle joint. More specifically, when the connection method between the driving vehicle joint and the driven vehicle joint is articulated, the connection point is the articulation point, and the intersection distance L2 is the distance from the center point of the rear axle of the driving vehicle joint to the articulation point.

[0094] The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment The heading information of the slave train section at the current moment includes the heading angle of the slave train section at the current moment.

[0095] The vehicle posture estimation module 12 includes:

[0096] The position calculation unit 121 of the driving segment at the next moment is used to calculate the heading angle of the driving segment at the current moment. The first and second components of the vehicle's reversing distance s are calculated by the cosine function and the sine function, respectively. The first component of the reversing distance is correlated with the first horizontal coordinate x 1,t The sum of is the second abscissa x 1,t+1 , the second travel component and the first ordinate y 1,t The sum of is the second ordinate y 1,t+1 .Right now:

[0097]

[0098]

[0099] The heading calculation unit 122 of the driving section at the next moment is used to obtain the tangent value of the tire rotation angle δ and the driving ratio between the vehicle's reverse distance s and the driving section wheelbase L1, and the heading angle of the driving section at the current moment Add the product of the tangent value and the driving ratio to obtain the heading angle of the driving vehicle at the next moment Right now:

[0100]

[0101] The heading calculation unit 123 of the next moment slave train section is used to obtain the heading angle of the slave train section at the current moment. The heading angle of the driving vehicle at the current moment The heading angle difference between the vehicle segments and the heading angle of the driving vehicle segment at the next moment The heading angle of the driving vehicle at the current moment The driving heading angle difference between the intersection, the turning radius d, and the driving ratio between the vehicle's reverse distance s and the driving vehicle segment wheelbase L1 are calculated. The product between the sine value of the vehicle segment heading angle difference and the driving heading angle difference, the turning radius and the driving ratio is calculated. The calculated product is added to the heading angle of the driven vehicle segment at the current moment. The sum between them is taken as the heading angle of the next moment from the moving vehicle section The turning radius d is calculated based on the tire rotation angle δ, the driving vehicle wheelbase L1, and the intersection distance L2.

[0102]

[0103]

[0104] The position calculation unit 124 of the slave vehicle segment at the next moment is used to calculate the heading angle of the driving vehicle segment at the next moment. And the heading angle of the next moment from the motor vehicle joint The first intersection component and the second intersection component of the intersection distance L2, the first driven component and the second driven component of the driven wheelbase L3 are calculated by the cosine function and the sine function respectively; 1,t+1 Add the difference between the first intersection component and the first driven component to obtain the third horizontal coordinate x 2,t+1 ; On the second vertical coordinate y 1,t+1 Subtract the sum of the second intersection component and the second driven component from the basis to obtain the third vertical coordinate y 2,t+1 .Right now:

[0105]

[0106]

[0107] The control system for assisting vehicle reversing provided by an embodiment of the present invention estimates the position and heading angle of the vehicle after traveling a certain distance based on information such as the vehicle's current position, heading angle, and steering wheel angle, and accurately obtains the position and heading angle of the driven vehicle after traveling a certain distance through the connection information between the driving vehicle joint and the driven vehicle joint, thereby reducing the difficulty of reversing the vehicle and improving the safety of vehicle driving.

[0108] Furthermore, based on the above embodiment, the control system further includes a first display module 14 and a second display module 15 , and the vehicle posture estimation module 12 includes a driving trajectory acquisition unit 125 .

[0109] The driving trajectory acquisition unit 125 obtains the vehicle's driving trajectory by iteratively integrating the next-moment position information based on a predetermined reversing distance. Specifically, the reversing distance s is set to a fixed value, such as 1 meter or 5 meters, and the above formula is iteratively integrated to obtain the vehicle's trajectory when the vehicle travels the predetermined distance.

[0110] The first display module 14 is disposed inside the driving section and is used to display the driving trajectory to the driver.

[0111] Specifically, the first display module 14 includes an image driving unit and a display screen, wherein the image driving unit receives information such as the image acquisition unit 131, the first environment perception unit 132 and the second environment perception unit 133 in the environment perception module 13, and the driving trajectory output by the vehicle posture estimation module 12. The display screen displays the information output by the environment perception module 13 and the driving trajectory output by the vehicle posture estimation module 12 in the form of images, as shown in FIG. Figure 4 as well as Figure 5 As shown, where the top view Figure 2The current status and driving trajectory of the vehicle (including the driving trajectory of the driving section and the driving trajectory of the driven section) are displayed in the middle. Figure 1 With right rear view Figure 2 The traffic conditions around the vehicle are shown in the figure. The solid line vehicle is the current position of the vehicle, and the dotted line vehicle is the position of the vehicle after it moves back 1 meter. Figure 4 Middle view Figure 2 What is shown is the driving trajectory when s is set to 1m; Figure 5 Middle view Figure 2 The figure shows the driving trajectory when s is set to 5m.

[0112] The second display module 15 is arranged on the driving section and / or the driven section, and is used to project the driving trajectory around the vehicle to provide prompts to people around the vehicle.

[0113] In this embodiment, the second display module 15 is a track projection module, which can be arranged on the driving segment through wired transmission, or on the driven segment through a simple bracket or magnet.

[0114] More specifically, the second display module 15 may include a signal processing unit, a projection unit, and a power supply. The signal processing unit is used to process the acquired driving trajectory, the projection unit projects the processed driving trajectory around the vehicle, and the power supply supplies power to the second display module 15. The signal processing unit may receive the driving trajectory output by the vehicle posture estimation module 12 via wireless communication methods such as Wi-Fi, Bluetooth, and ZigBee.

[0115] The control system for assisting vehicle reversing provided by the embodiment of the present invention displays the vehicle's specific motion trajectory to the driver through the first display module 14 as the vehicle reverses for several meters, allowing the driver to adjust vehicle control behavior in real time during the reversing process, thereby achieving safe and accurate reversing. The vehicle's reversing trajectory is displayed to people around the vehicle through the second display module 15, further improving safety. People around the vehicle can also assist the driver in reversing based on the vehicle's trajectory.

[0116] Furthermore, based on the above embodiment, the control system further includes an image acquisition unit 131 , a first environment perception unit 132 and a second environment perception unit 133 .

[0117] The image acquisition unit 131 is arranged around the driving section and is used to collect image information around the vehicle. The image information includes a top view image of the vehicle and images on both sides of the vehicle.

[0118] Specifically, the image acquisition unit 131 can be an image acquisition device such as an image sensor or a camera. For example, image sensors can be placed on both the front and rear sides of the drive train to collect surrounding image information. The vehicle images captured by the image sensors on the front sides are converted into a top-down view, while the vehicle images captured by the image sensors on the rear sides are presented on both sides of the top-down view at a normal perspective. The top-down view facilitates the driver's observation of the vehicle's reversing status, while the normal perspective image facilitates the driver's observation of traffic conditions on both sides of the vehicle.

[0119] The first environment perception unit 132 is arranged around the driving vehicle and is used to collect information about objects around the vehicle.

[0120] In this embodiment, the first environmental perception unit 132 may be a laser radar, specifically positioned on the left and right front sides of the driving section. Alternatively, it may be positioned on the roof or rear of the driving section to serve as a blind spot radar. The laser radar provides information about objects around the vehicle and, combined with image information, determines the status of obstacles such as vehicles, pedestrians, and curbs.

[0121] The object information acquired by the first environmental perception unit 132 may include the vehicle's drivable area, which can be marked in the top view. Furthermore, the positional information of the slave joint can be acquired through feature points or landmarks located on the slave joint, thereby calculating the slave joint's traction angle, which supplements the traction angle acquired by the traction angle sensor.

[0122] The second environment sensing unit 133 is arranged around the driving vehicle segment and the driven vehicle segment, and is used to collect information about obstacles close to the vehicle.

[0123] In this embodiment, the second environment perception unit 133 acquires obstacle information using ultrasonic radars. Specifically, ultrasonic radars are arranged around the driving and driven vehicle segments. The driving segment includes at least four in the front, two on the left, two on the right, and four at the rear. The driven segment includes at least four on the left, four on the right, and four at the rear, ensuring that there are ultrasonic radars in all directions of the vehicle. The specific number of ultrasonic radars can be adjusted according to needs.

[0124] The second environment perception unit 133 serves as a supplement to the image acquisition unit 131 and the first environment perception unit 132 to further acquire information about objects around the vehicle.

[0125] The first display module 14 is further configured to display the image information, object information, and obstacle information.

[0126] The control system for assisting vehicle reversing provided by an embodiment of the present invention acquires information about the vehicle itself and the surrounding environment through the image acquisition unit 131, the first environment perception unit 132 and the second environment perception unit 133, and displays it to the driver through the first display module 14, so as to facilitate the driver to observe the surrounding traffic conditions and improve the safety of vehicle control.

[0127] Furthermore, based on the above embodiment, the second environment perception unit 133 is further configured to send obstacle warning information to the first display module 14 to remind the driver when the distance between the obstacle and the vehicle is less than a preset threshold.

[0128] In this embodiment, the ultrasonic sensor in the second environment perception unit 133 obtains information about obstacles in the vicinity of the vehicle. When the vehicle is too close to an obstacle, an audible and visual alarm is sent to the first display module 14 to alert the driver.

[0129] Furthermore, based on the above embodiment, the vehicle segment information includes the traction angle of the driven vehicle segment, and the vehicle posture estimation module 12 includes a traction angle monitoring unit 126.

[0130] The traction angle monitoring unit 126 is used to monitor in real time whether the traction angle of the driven joint exceeds the angle threshold α max , and when the traction angle of the driven vehicle joint exceeds the angle threshold, a traction angle warning message is generated to prompt the driver.

[0131] Among them, the angle threshold α max According to the minimum turning radius d of the intersection min And the driving vehicle wheelbase L1 is calculated. Specifically:

[0132]

[0133] in, δ max The maximum value of the tire rotation angle of the driving vehicle segment.

[0134] The control system for assisting vehicle reversing provided by the embodiment of the present invention avoids traffic accidents caused by physical collision between the tractor and the trailer due to excessive traction angle of the driven vehicle joint by real-time monitoring whether the traction angle of the driven vehicle joint exceeds the angle threshold.

[0135] Furthermore, based on the above embodiment, the vehicle information acquisition module 11 includes:

[0136] The steering wheel information acquisition unit 111 is provided inside the driving vehicle segment and is used to acquire steering wheel angle information and convert the steering wheel angle information into a tire rotation angle of the driving vehicle segment.

[0137] The steering wheel information acquisition unit 111 specifically acquires the steering wheel angle information through a steering wheel sensor of the driving vehicle.

[0138] The traction angle acquisition unit 112 is provided at the connection between the driving joint and the driven joint, and is used to acquire the traction angle α1 of the first driven joint, specifically, acquiring the traction angle α1 of the first driven joint through a rotation angle sensor.

[0139] The wheel speed acquisition unit 113 is provided on the driving and driven joints and is used to acquire the wheel speeds of the driving and driven joints for calculating the change in the driven joint traction angle ΔL3 (see below for the specific calculation process). Specifically, wheel speed sensors are provided on the driving and driven joints to acquire the wheel speeds of the two rear wheels of the driving and driven joints.

[0140] It should be noted that the traction angle α of the driven train segment mentioned in the traction angle monitoring unit is t+1 Specifically, it is determined based on the angle information obtained by the steering angle sensor, the information obtained by the wheel speed sensor, and the angle information supplemented by the lidar, and is determined through conventional filtering methods.

[0141] Specifically, taking the tractor as the driving vehicle and the trailer as the driven vehicle as an example, the trailer traction angle obtained by the angle sensor is α1, the trailer traction angle obtained by the laser radar by illuminating the characteristic surface of the trailer compartment is α2, and the wheel speed sensor obtains the left and right wheel speeds of the tractor's rear axle as v 1,l , v 1,r , the left and right wheel speeds of the trailer are v 2,l , v 2,r , the change of the trailer's traction angle Δα3 is:

[0142]

[0143] Where Δt is the sampling time, and v*Δt can be expressed by the number of pulse signals in the wheel speed sensor, that is:

[0144]

[0145] Where R is the tire radius, N is the number of wheel speed sensor teeth, and n is the number of wheel speed pulses obtained within Δt.

[0146] The trailer traction angle α1 obtained by the angle sensor, the trailer traction angle α2 obtained by the lidar, and the change Δα3 of the trailer traction angle are linearly filtered and superimposed, that is:

[0147] α t+1 =k0α t +k1(α1-α t )+k2(α2-αt )+k3Δα3

[0148] Among them, k0, k1, k2, k3 are weighted coefficients, α t+1 is the trailer traction angle at time t+1, α t is the trailer traction angle at time t.

[0149] In addition, this embodiment also includes a gear sensor installed on the driving joint for determining the vehicle's driving direction; and speed sensors installed on the driving joint and the driven joint for obtaining the driving joint speed and the driven joint speed.

[0150] The control method for assisting vehicle reversing provided by the present invention is described below. The control method for assisting vehicle reversing described below and the control system for assisting vehicle reversing described above can refer to each other.

[0151] Figure 6 FIG. 1 is a flow chart of a control method for assisting a vehicle in reversing according to an embodiment of the present invention; FIG. Figure 6 As shown, the control method for assisting vehicle reversing includes:

[0152] S610, obtaining the current position information and body information of the vehicle.

[0153] In which, the vehicle includes a driving vehicle joint and a driven vehicle joint (such as a trailer, etc.) connected to the driving vehicle joint (such as a truck, a tractor, etc.). The connection method between the driving vehicle joint and the driven vehicle joint can be an articulated connection, or it can be other connection methods that make the direction of the driven vehicle joint not completely positively correlated with the direction of the driving vehicle joint.

[0154] The current posture information includes the position information and heading information of the driving vehicle segment at the current moment and the heading information of the driven vehicle segment at the current moment. The vehicle body information includes vehicle segment information and connection information between the driving vehicle segment and the driven vehicle segment.

[0155] S620, calculating the vehicle's next-moment position information based on the vehicle's reversing distance, the current-moment position information, and the vehicle body information to assist the driver in performing safe and accurate reversing control.

[0156] The next-moment position information includes the position and heading information of the driving vehicle segment at the next moment, as well as the position and heading information of the driven vehicle segment at the next moment. The vehicle's reversing distance refers to the set reversing distance. The state of the driving vehicle segment and the driven vehicle segment during the reversing process (i.e., the next-moment position information) is estimated. The driver observes the current steering wheel and other control operations based on the estimated next-moment position information to ensure that reversing can be completed safely and accurately, which also facilitates timely adjustment of the current vehicle control behavior.

[0157] The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment.

[0158] The heading information of the driving vehicle segment at the next moment is calculated based on the heading information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the vehicle segment information.

[0159] As can be seen from the above, the state of the driving joint at the next moment can be calculated based on the current state of the driving joint, and it is completely positively correlated with the vehicle control commands issued by the driver. The traction angle between the driven joint and the driving joint changes with the driving direction, resulting in an incomplete positive correlation between the driving direction and position of the driven joint and the vehicle control commands issued by the driver. Therefore, to accurately estimate the position information of the driven joint at the next moment, it is also necessary to take into account the connection information between the driving joint and the driven joint.

[0160] Among them, the heading information of the driven vehicle segment at the next moment is calculated based on the heading information of the driven vehicle segment at the current moment, the heading information of the driving vehicle segment at the current moment, the heading information of the driving vehicle segment at the next moment, the reversing distance of the vehicle, the vehicle segment information, and the connection information between the driving vehicle segment and the driven vehicle segment.

[0161] The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information.

[0162] The control method for assisting vehicle reversing provided in an embodiment of the present invention estimates the heading and position of the driving vehicle segment and the driven vehicle segment at the next moment based on the vehicle's current posture information and body information. It can be used to show the driver the vehicle's position and heading at the future moment if the current vehicle control instructions (such as vehicle speed, steering wheel steering, etc.) are followed, thereby assisting the driver to complete the reversing operation safely and accurately.

[0163] Furthermore, based on the above embodiment, the position information of the driving segment at the current moment is the center point position of the driving segment at the current moment, and the coordinates of the center point position of the driving segment at the current moment include the first horizontal coordinate x 1,t With the first ordinate y 1,t .

[0164] Correspondingly, the position information of the driving segment at the next moment is the center point position of the driving segment at the next moment, and the coordinates of the center point position of the driving segment at the next moment include the second horizontal coordinate x 1,t+1 and the second ordinate y 1,t+1 .

[0165] The position information of the slave train segment at the next moment is the center point position of the slave train segment at the next moment, and the coordinates of the center point position of the slave train segment at the next moment include the third horizontal coordinate x 2,t+1 and the third ordinate y 2,t+1 .

[0166] It should be noted that, in the case of a two-axle vehicle (including a front axle and a rear axle), the center point of the driving joint specifically refers to the center point of the rear axle of the driving joint; in the case of a multi-axle vehicle, the center point of the driving joint specifically refers to the position averaged from the multiple axles of the driving joint to the intermediate axis. Similarly, in the case of a two-axle vehicle, the center point of the driven joint specifically refers to the center point of the rear axle of the driven joint; in the case of a multi-axle vehicle, the center point of the driven joint specifically refers to the position averaged from the multiple axles of the multiple joints to the intermediate axis. The first, second, and third abscissas are all lateral positions, and the first, second, and third ordinates are all longitudinal positions. Furthermore, the coordinate positions of each center point here are obtained within a global coordinate system, which can be established based on the current position of the driving joint using a global positioning device deployed on the driving joint or using cameras and lidar.

[0167] The vehicle segment information includes the tire rotation angle δ of the driving vehicle segment, the driving vehicle segment wheelbase L1, and the driven vehicle segment wheelbase L3. The tire rotation angle δ of the driving vehicle segment specifically refers to the rotation angle of the front wheels of the driving vehicle segment (the wheels closest to the front of the driving vehicle segment), which is obtained by converting the steering wheel angle information.

[0168] The connection information includes the intersection distance L2 between the center point of the driving vehicle joint and the intersection point, and the intersection point is the connection point between the driving vehicle joint and the driven vehicle joint. More specifically, when the connection method between the driving vehicle joint and the driven vehicle joint is articulated, the connection point is the articulation point, and the intersection distance L2 is the distance from the center point of the rear axle of the driving vehicle joint to the articulation point.

[0169] The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment The heading information of the slave train section at the current moment includes the heading angle of the slave train section at the current moment.

[0170] According to the current driving moment of the vehicle heading angle The first and second components of the vehicle's reversing distance s are calculated by the cosine function and the sine function, respectively. The first component of the reversing distance is correlated with the first horizontal coordinate x 1,t The sum of is the second abscissa x 1,t+1 , the second travel component and the first ordinate y 1,t The sum of is the second ordinate y 1,t+1 .Right now:

[0171]

[0172]

[0173] Obtain the tangent value of the tire rotation angle δ and the driving ratio between the vehicle's reverse distance s and the driving segment wheelbase L1. Add the product of the tangent value and the driving ratio to the heading angle of the driving segment at the current moment to obtain the heading angle of the driving segment at the next moment. Right now:

[0174]

[0175] Get the heading angle of the slave train at the current moment The heading angle of the driving vehicle at the current moment The heading angle difference between the vehicle segments and the heading angle of the driving vehicle segment at the next moment The heading angle of the driving vehicle at the current moment The driving heading angle difference between the intersection, the turning radius d, and the driving ratio between the vehicle's reverse distance s and the driving vehicle segment wheelbase L1 are calculated. The product between the sine value of the vehicle segment heading angle difference and the driving heading angle difference, the turning radius and the driving ratio is calculated. The calculated product is added to the heading angle of the driven vehicle segment at the current moment. The sum between them is taken as the heading angle of the next moment from the moving vehicle section The turning radius d is calculated based on the tire rotation angle δ, the driving vehicle wheelbase L1, and the intersection distance L2.

[0176]

[0177]

[0178] According to the heading angle of the driving vehicle at the next moment And the heading angle of the next moment from the motor vehicle joint The first intersection component and the second intersection component of the intersection distance L2, the first driven component and the second driven component of the driven wheelbase L3 are calculated by the cosine function and the sine function respectively; 1,t+1 Add the difference between the first intersection component and the first driven component to obtain the third horizontal coordinate x 2,t+1 ; On the second vertical coordinate y 1,t+1 Subtract the sum of the second intersection component and the second driven component from the basis to obtain the third vertical coordinate y 2,t+1 .Right now:

[0179]

[0180]

[0181] The control method for assisting vehicle reversing provided in an embodiment of the present invention estimates the position and heading angle of the vehicle after traveling a certain distance based on information such as the vehicle's current position, heading angle, and steering wheel angle, and accurately obtains the position and heading angle of the driven vehicle after traveling a certain distance through the connection information between the driving vehicle joint and the driven vehicle joint, thereby reducing the difficulty of reversing the vehicle and improving the safety of vehicle driving.

[0182] Furthermore, based on the above embodiment, after calculating the vehicle's posture information at the next moment based on the current posture information and the vehicle body information, the method further includes:

[0183] An iterative integral calculation is performed on the next moment's position information to obtain the vehicle's driving trajectory. This trajectory is displayed to the driver within the drive train and projected around the vehicle. For details, see the description of the driving trajectory display in the first display module 14 and the second display module 15 in the system section above, and will not be repeated here.

[0184] Furthermore, based on the above embodiment, the method further includes:

[0185] The image acquisition unit 131 captures image information around the vehicle, including an overhead view of the vehicle and images on both sides of the vehicle. The first environment perception unit 132 captures information about objects around the vehicle. The second environment perception unit 133 captures information about obstacles approaching the vehicle. The first display module 14 displays this image information, object information, and obstacle information. For details, refer to the description of the image acquisition unit 131, the first environment perception unit 132, and the second environment perception unit 133 in the system section above, and will not be repeated here.

[0186] Furthermore, based on the above embodiment, the method further includes:

[0187] Real-time monitoring is performed to determine whether the traction angle of the driven vehicle joint exceeds an angle threshold, and when the traction angle of the driven vehicle joint exceeds the angle threshold, traction angle warning information is generated to prompt the driver.

[0188] The angle threshold is calculated based on the minimum turning radius of the intersection and the wheelbase of the driving vehicle. For details, please refer to the description of the traction angle monitoring unit 126 in the above system part, which will not be repeated here.

[0189] Figure 7 An example of a physical structure diagram of an electronic device is shown below. Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute a control method for assisting the vehicle in reversing, the method comprising: obtaining the vehicle's current moment posture information and body information; wherein the vehicle comprises a driving vehicle segment and a driven vehicle segment connected to the driving vehicle segment; the current moment posture information comprises the current moment position information and heading information of the driving vehicle segment and the current moment heading information of the driven vehicle segment; the body information comprises vehicle segment information and connection information between the driving vehicle segment and the driven vehicle segment; the vehicle's next moment posture information is calculated based on the vehicle's reversing distance, the current moment posture information and the body information to assist the driver in performing safe and accurate reversing control; wherein the next moment posture information comprises the next moment position information and heading information of the driving vehicle segment and the next moment heading information of the driven vehicle segment position information and heading information; the position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle and the heading information of the driving vehicle segment at the current moment; the heading information of the driving vehicle segment at the next moment is calculated based on the heading information of the driving vehicle segment at the current moment, the reversing distance of the vehicle and the vehicle segment information; the heading information of the driven vehicle segment at the next moment is calculated based on the heading information of the driven vehicle segment at the current moment, the heading information of the driving vehicle segment at the current moment, the heading information of the driving vehicle segment at the next moment, the reversing distance of the vehicle, the vehicle segment information and the connection information between the driving vehicle segment and the driven vehicle segment; the position information of the driven vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the next moment, the heading information of the driving vehicle segment at the current moment, the heading information of the driven vehicle segment at the current moment and the vehicle segment information.

[0190] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0191] On the other hand, an embodiment of the present invention further provides a vehicle, comprising: the electronic device provided in the aforementioned embodiment. The implementation principle and technical effects of the vehicle provided in the embodiment of the present invention are the same as those of the aforementioned method embodiment, and will not be described in detail here.

[0192] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the control method for assisting vehicle reversing provided above, the method comprising: obtaining the vehicle's current moment posture information and body information; wherein, the vehicle comprises a driving vehicle joint and a driven vehicle joint connected to the driving vehicle joint; the current moment posture information comprises the current moment position information and heading information of the driving vehicle joint and the current moment heading information of the driven vehicle joint; the body information comprises vehicle joint information and connection information between the driving vehicle joint and the driven vehicle joint; the vehicle's next moment posture information is calculated based on the vehicle's reversing distance, the current moment posture information and the body information to assist the driver in performing safe and accurate reversing control; wherein, the next moment posture information comprises the position information of the driving vehicle joint at the next moment Information and heading information as well as the position information and heading information of the driven vehicle joint at the next moment; the position information of the driving vehicle joint at the next moment is calculated based on the position information of the driving vehicle joint at the current moment, the reversing distance of the vehicle and the heading information of the driving vehicle joint at the current moment; the heading information of the driving vehicle joint at the next moment is calculated based on the heading information of the driving vehicle joint at the current moment, the reversing distance of the vehicle and the vehicle joint information; the heading information of the driven vehicle joint at the next moment is calculated based on the heading information of the driven vehicle joint at the current moment, the heading information of the driving vehicle joint at the current moment, the heading information of the driving vehicle joint at the next moment, the reversing distance of the vehicle, the vehicle joint information and the connection information between the driving vehicle joint and the driven vehicle joint; the position information of the driven vehicle joint at the next moment is calculated based on the position information of the driving vehicle joint at the next moment, the heading information of the driving vehicle joint at the current moment, the heading information of the driven vehicle joint at the current moment and the vehicle joint information.

[0193] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0194] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0195] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control system for assisting a vehicle in reversing, characterized in that: include: A vehicle information acquisition module is configured to acquire the vehicle's current position and posture information and body information; wherein the vehicle comprises a driving joint and a driven joint connected to the driving joint; the current position and posture information comprises the current position and heading information of the driving joint and the current heading information of the driven joint; the body information comprises joint information and connection information between the driving joint and the driven joint; A vehicle posture estimation module is used to calculate the vehicle's posture information at the next moment based on the vehicle's reversing distance, the current posture information, and the vehicle body information, so as to assist the driver in performing safe and accurate reversing control; The position information at the next moment includes the position information and heading information of the driving vehicle segment at the next moment and the position information and heading information of the driven vehicle segment at the next moment; The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment; The heading information of the driving segment at the next moment is calculated based on the heading information of the driving segment at the current moment, the reversing distance of the vehicle, and the segment information; The heading information of the slave joint at the next moment is calculated based on the heading information of the slave joint at the current moment, the heading information of the driving joint at the current moment, the heading information of the driving joint at the next moment, the reversing distance of the vehicle, the joint information, and the connection information between the driving joint and the slave joint; The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information; The position information of the driving segment at the current moment is the position of the center point of the driving segment at the current moment, and the coordinates of the center point position of the driving segment at the current moment include a first horizontal coordinate and a first vertical coordinate; correspondingly, the position information of the driving segment at the next moment is the position of the center point of the driving segment at the next moment, and the coordinates of the center point position of the driving segment at the next moment include a second horizontal coordinate and a second vertical coordinate; the position information of the driven segment at the next moment is the position of the center point of the driven segment at the next moment, and the coordinates of the center point position of the driven segment at the next moment include a third horizontal coordinate and a third vertical coordinate; The vehicle segment information includes the tire rotation angle of the driving vehicle segment, the driving vehicle segment wheelbase and the driven vehicle segment wheelbase; the connection information includes the intersection distance between the driving vehicle segment center point and the intersection point, and the intersection point is the connection point between the driving vehicle segment and the driven vehicle segment; The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment, and the heading information of the driven vehicle segment at the current moment includes the heading angle of the driven vehicle segment at the current moment; The vehicle posture estimation module includes: a position calculation unit for the driving segment at the next moment, for calculating, based on the heading angle of the driving segment at the current moment and the reversing distance of the vehicle, a first travel component and a second travel component of the reversing distance of the vehicle using a cosine function and a sine function, respectively, taking the sum of the first travel component and the first abscissa as the second abscissa, and taking the sum of the second travel component and the first ordinate as the second ordinate; The heading calculation unit for the next driving segment is used to obtain the tangent value of the tire rotation angle and the driving ratio between the vehicle's reverse distance and the driving segment wheelbase, and add the product of the tangent value and the driving ratio to the heading angle of the driving segment at the current moment to obtain the heading angle of the driving segment at the next moment; a heading calculation unit for the next driven joint, configured to obtain a joint heading angle difference between the heading angle of the driven joint at the current moment and the heading angle of the driving joint at the current moment, a driving heading angle difference between the heading angle of the driving joint at the next moment and the heading angle of the driving joint at the current moment, a turning radius of the intersection, and a driving ratio between the vehicle's reversing distance and the driving joint wheelbase; calculate the product of the sine value of the joint heading angle difference and the driving heading angle difference, the turning radius, and the driving ratio; and use the sum of the calculated product and the heading angle of the driven joint at the current moment as the heading angle of the driven joint at the next moment; wherein the turning radius is calculated based on the tire rotation angle, the driving joint wheelbase, and the intersection distance; The position calculation unit of the driven joint at the next moment is used to calculate the first intersection component and the second intersection component of the intersection distance, the first driven component and the second driven component of the driven joint wheelbase through the cosine function and the sine function according to the heading angle of the driving joint at the next moment and the heading angle of the driven joint at the next moment; add the difference between the first intersection component and the first driven component to the second horizontal coordinate to obtain the third horizontal coordinate; subtract the sum of the second intersection component and the second driven component from the second vertical coordinate to obtain the third vertical coordinate.

2. The control system for assisting vehicle reversing according to claim 1, characterized in that: The control system further includes a first display module and a second display module, and the vehicle posture estimation module includes a driving trajectory acquisition unit; The driving trajectory acquisition unit obtains the vehicle's driving trajectory by iteratively integrating the posture information at the next moment based on the set reversing distance of the vehicle; The first display module is arranged inside the driving section and is used to display the driving trajectory to the driver; The second display module is arranged on the driving vehicle segment and / or the driven vehicle segment, and is used to project the driving trajectory around the vehicle to provide prompts to people around the vehicle.

3. The control system for assisting vehicle reverse parking according to claim 2, characterized in that: The control system further includes an image acquisition unit, a first environment perception unit and a second environment perception unit; The image acquisition unit is arranged around the driving section and is used to collect image information around the vehicle, the image information including the top view image of the vehicle and images on both sides of the vehicle; The first environment sensing unit is arranged around the driving vehicle section and is used to collect information about objects around the vehicle; The second environment sensing unit is arranged around the driving vehicle segment and the driven vehicle segment and is used to collect information about obstacles approaching the vehicle; The first display module is further used to display the image information, object information and obstacle information.

4. The control system for assisting vehicle reverse parking according to claim 3, characterized in that: The second environment perception unit is further configured to send obstacle warning information to the first display module to alert the driver when the distance between the obstacle and the vehicle is less than a preset threshold.

5. The control system for assisting vehicle reverse parking according to claim 1, characterized in that: The vehicle segment information includes a driven vehicle segment traction angle, and the vehicle posture estimation module includes a traction angle monitoring unit; The traction angle monitoring unit is used to monitor in real time whether the traction angle of the driven vehicle joint exceeds an angle threshold, and generate traction angle warning information to prompt the driver when the traction angle of the driven vehicle joint exceeds the angle threshold; The angle threshold is calculated based on the minimum turning radius of the intersection and the wheelbase of the driving vehicle.

6. The control system for assisting vehicle reversing according to any one of claims 1 to 5, characterized in that: The vehicle information acquisition module includes: A steering wheel information acquisition unit is provided inside the driving section and is used to acquire steering wheel angle information and convert the steering wheel angle information into a tire rotation angle of the driving section; A traction angle acquisition unit is provided at the connection between the driving segment and the driven segment, and is used to acquire the traction angle of the first driven segment; The wheel speed acquisition unit is provided on the driving vehicle joint and the driven vehicle joint, and is used for acquiring the wheel speed of the driving vehicle joint and the wheel speed of the driven vehicle joint.

7. A method for assisting a vehicle in reversing based on the control method for assisting a vehicle in reversing according to any one of claims 1 to 6, characterized in that: include: Obtaining the current position information and body information of the vehicle; wherein the vehicle includes a driving vehicle segment and a driven vehicle segment connected to the driving vehicle segment; the current position information includes the current position information and heading information of the driving vehicle segment and the current heading information of the driven vehicle segment; the body information includes vehicle segment information and connection information between the driving vehicle segment and the driven vehicle segment; Calculating the vehicle's next-moment position information based on the vehicle's reversing distance, the current-moment position information, and the vehicle body information to assist the driver in safely and accurately reversing the vehicle; The position information at the next moment includes the position information and heading information of the driving vehicle segment at the next moment and the position information and heading information of the driven vehicle segment at the next moment; The position information of the driving vehicle segment at the next moment is calculated based on the position information of the driving vehicle segment at the current moment, the reversing distance of the vehicle, and the heading information of the driving vehicle segment at the current moment; The heading information of the driving segment at the next moment is calculated based on the heading information of the driving segment at the current moment, the reversing distance of the vehicle, and the segment information; The heading information of the slave joint at the next moment is calculated based on the heading information of the slave joint at the current moment, the heading information of the driving joint at the current moment, the heading information of the driving joint at the next moment, the reversing distance of the vehicle, the joint information, and the connection information between the driving joint and the slave joint; The position information of the slave joint at the next moment is calculated based on the position information of the driving joint at the next moment, the heading information of the driving joint at the current moment, the heading information of the slave joint at the current moment, and the joint information; The position information of the driving segment at the current moment is the position of the center point of the driving segment at the current moment, and the coordinates of the center point position of the driving segment at the current moment include a first horizontal coordinate and a first vertical coordinate; correspondingly, the position information of the driving segment at the next moment is the position of the center point of the driving segment at the next moment, and the coordinates of the center point position of the driving segment at the next moment include a second horizontal coordinate and a second vertical coordinate; the position information of the driven segment at the next moment is the position of the center point of the driven segment at the next moment, and the coordinates of the center point position of the driven segment at the next moment include a third horizontal coordinate and a third vertical coordinate; The vehicle segment information includes the tire rotation angle of the driving vehicle segment, the driving vehicle segment wheelbase and the driven vehicle segment wheelbase; the connection information includes the intersection distance between the driving vehicle segment center point and the intersection point, and the intersection point is the connection point between the driving vehicle segment and the driven vehicle segment; The heading information of the driving vehicle segment at the current moment includes the heading angle of the driving vehicle segment at the current moment, and the heading information of the driven vehicle segment at the current moment includes the heading angle of the driven vehicle segment at the current moment; According to the heading angle of the driving vehicle segment at the current moment and the reversing distance of the vehicle, the first and second driving components of the reversing distance of the vehicle are calculated using the cosine function and the sine function respectively, the sum of the first driving component and the first horizontal coordinate is used as the second horizontal coordinate, and the sum of the second driving component and the first vertical coordinate is used as the second vertical coordinate; Obtain the tangent value of the tire rotation angle and the drive ratio between the vehicle's reverse distance and the wheelbase of the driving segment. Add the product of the tangent value and the drive ratio to the heading angle of the driving segment at the current moment to obtain the heading angle of the driving segment at the next moment. Obtain the vehicle segment heading angle difference between the heading angle of the driven vehicle segment at the current moment and the heading angle of the driving vehicle segment at the current moment, the driving heading angle difference between the heading angle of the driving vehicle segment at the next moment and the heading angle of the driving vehicle segment at the current moment, the turning radius of the intersection, and the driving ratio between the vehicle's reversing distance and the driving vehicle segment wheelbase; calculate the product of the sine value of the vehicle segment heading angle difference and the driving heading angle difference, the turning radius, and the driving ratio; and use the sum of the calculated product and the heading angle of the driven vehicle segment at the current moment as the heading angle of the driven vehicle segment at the next moment; wherein the turning radius is calculated based on the tire rotation angle, the driving vehicle segment wheelbase, and the intersection distance; According to the heading angle of the driving vehicle segment at the next moment and the heading angle of the driven vehicle segment at the next moment, the first intersection component and the second intersection component of the intersection distance and the first driven component and the second driven component of the driven vehicle segment wheelbase are calculated respectively by the cosine function and the sine function; the difference between the first intersection component and the first driven component is added to the second horizontal coordinate to obtain the third horizontal coordinate; the sum of the second intersection component and the second driven component is subtracted from the second vertical coordinate to obtain the third vertical coordinate.

8. The control method for assisting vehicle reversing according to claim 7, characterized in that: After calculating the vehicle's posture information at a next moment based on the current posture information and the vehicle body information, the method further includes: An iterative integral calculation is performed on the posture information at the next moment to obtain the vehicle's driving trajectory; the driving trajectory is displayed to the driver inside the driving vehicle section and projected around the vehicle.

9. The control method for assisting vehicle reversing according to claim 7, characterized in that: The method also includes: Collecting image information around the vehicle by an image acquisition unit, wherein the image information includes an overhead image of the vehicle and images on both sides of the vehicle; Collecting information about objects around the vehicle through the first environment perception unit; Collecting obstacle information close to the vehicle through the second environment perception unit; The image information, object information and obstacle information are displayed through the first display module.

10. The control method for assisting vehicle reverse parking according to claim 7, characterized in that: The method also includes: Real-time monitoring of whether the traction angle of the driven train section exceeds an angle threshold, and generating traction angle warning information to alert the driver when the traction angle of the driven train section exceeds the angle threshold; The angle threshold is calculated based on the minimum turning radius of the intersection and the wheelbase of the driving vehicle.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method for assisting vehicle reversing according to any one of claims 7 to 10 is implemented.

12. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 11.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for assisting vehicle reversing according to any one of claims 7 to 10 is implemented.

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