Vehicle backward driving method, device, equipment, storage medium and program product

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle backward driving method, device and equipment, a storage medium and a program product. If the gear state of the vehicle is the reverse gear state, the first image information is displayed on a display device of the vehicle, so that the target object controls a steering wheel of the vehicle based on the first image information, and a first control signal is generated; and the rear steering mechanism is controlled based on the first control signal, so that the vehicle runs in the reverse direction. According to the invention, the image information is directly projected to the display equipment of the vehicle, so that a driver can easily check the rear condition while keeping a normal driving posture, and does not need to frequently turn the head or adjust the sight, thereby improving the concentration and safety of driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle reverse driving method, device, equipment, storage medium and program product. Background Art

[0002] With the acceleration of urbanization, cars have become an indispensable means of transportation in modern life. However, with the surge in the number of vehicles, the urban traffic environment is becoming increasingly complex, and the driving skills required of drivers are also increasing. In various driving scenarios, reversing into a garage and reverse driving have become a problem faced by many drivers, especially novice drivers, due to their unique operating requirements and high spatial perception requirements. Such operations require not only precise control skills, but also good spatial judgment ability, reaction speed, and comprehensive perception of the vehicle's surroundings.

[0003] At present, when encountering the situation that reverse driving is required, the driver is required to use the rearview mirror to observe the rear situation, which requires the driver's reverse sense to achieve the purpose of reversing the vehicle.

[0004] However, the field of view of the rearview mirror is relatively small and cannot completely cover all areas behind the vehicle, especially the far areas on both sides of the vehicle, which are prone to form blind spots and thus easily cause danger. Summary of the invention

[0005] In view of this, the present invention provides a method, device, equipment, storage medium and program product for reverse driving of a vehicle to solve the problem that the field of view of the rearview mirror is relatively small and cannot completely cover all areas behind the vehicle, especially the far areas on both sides of the vehicle, which are prone to form blind spots and thus easily cause danger.

[0006] In a first aspect, the present invention provides a method for reverse driving of a vehicle, wherein the vehicle is equipped with a rear steering mechanism; wherein the method comprises: obtaining a gear state of the vehicle; if the gear state of the vehicle is a reverse gear state, displaying first image information to a display device of the vehicle, so that a target object controls a steering wheel of the vehicle based on the first image information to generate a first control signal; and controlling the rear steering mechanism based on the first control signal to cause the vehicle to reverse.

[0007] The vehicle reverse driving method provided in this embodiment, through the rear steering mechanism combined with the first image information displayed by the display device (such as the central control large screen or the rearview mirror display screen), can allow the driver to more intuitively see the actual situation behind the vehicle, thereby reducing the risk of collision caused by blind spots.

[0008] In addition, the rear steering mechanism allows the vehicle to steer to a certain extent when reversing, thereby reducing the turning radius and making it easier for the vehicle to complete reversing in a narrow space.

[0009] In addition, the use of the rear-steering mechanism allows the driver to operate the vehicle according to forward driving habits and achieve reverse driving, which improves the smoothness of operation.

[0010] In an optional embodiment, if the gear state of the vehicle is a reverse gear state, the first image information is displayed on the display device of the vehicle, including: if the gear state of the vehicle is a reverse gear state, the first image information is projected onto the front windshield of the vehicle through a projection device; or, the first image information is displayed on the central control screen.

[0011] The vehicle reverse driving method provided in this embodiment projects image information directly onto the windshield directly in front of the driver, so that the driver can easily check the situation behind while maintaining a normal driving posture, without having to frequently turn his head or adjust his sight, thereby improving driving concentration and safety. Since the image information is directly projected onto the windshield, there is no need to occupy additional space on the central control screen or other display devices, so the use of the space inside the vehicle can be optimized, making the cockpit neater and more spacious.

[0012] In addition, the central control screen usually has a higher resolution and color reproduction, and can display image information more clearly. This allows the driver to more accurately judge the rear distance and obstacles when reversing.

[0013] In an optional embodiment, the vehicle is equipped with a front steering mechanism, and the method further includes: if the gear state of the vehicle is a forward gear, generating a second control signal; and controlling the front steering mechanism based on the second control signal to make the vehicle travel forward.

[0014] The reverse driving method of the vehicle provided in this embodiment realizes forward driving of the vehicle by controlling the front steering mechanism in the forward gear, and the driver can more flexibly adjust the driving trajectory of the vehicle to adapt to different roads and driving environments. This flexibility is particularly important in scenes such as narrow roads, complex traffic conditions or emergency obstacle avoidance.

[0015] In an optional embodiment, the rear steering mechanism is controlled based on a first control signal to make the vehicle drive backward, including: determining the rotation angle of the vehicle and the rotation direction of the vehicle based on the first control signal; controlling the rear steering mechanism based on the rotation angle of the vehicle and the rotation direction of the vehicle to make the rear wheels of the vehicle rotate according to the rotation angle of the vehicle and the rotation direction of the vehicle to make the vehicle drive backward.

[0016] The reverse driving method of the vehicle provided in this embodiment can achieve precise control of the reverse driving of the vehicle by precisely controlling the rotation angle and direction of the rear steering mechanism. This control is not limited to straight-line reverse driving, but also includes flexible steering in a small space, thereby improving the overall driving flexibility of the vehicle. In addition, in scenarios where rapid steering or parking is required, the vehicle can achieve a smaller turning radius by controlling the rear steering mechanism, making it possible to complete complex driving operations in a limited space.

[0017] In an optional embodiment, the step of determining the first image information includes: acquiring the road conditions around the vehicle captured by the vehicle's camera equipment to obtain second image information; wherein the vehicle's camera equipment is arranged at least four times around the vehicle, for capturing the road conditions in front, behind, on the left, and on the right of the vehicle respectively; and processing the second image information to obtain the first image information.

[0018] The vehicle reverse driving method provided in this embodiment can realize all-round monitoring of the surrounding environment through the camera devices in four directions, reducing or eliminating blind spots. This is crucial to improving driving safety, especially in complex or crowded traffic environments. In addition, the driver can obtain real-time road condition information around the vehicle, including pedestrians, other vehicles, obstacles, etc., so as to make more accurate and timely driving decisions.

[0019] In a second aspect, the present invention provides a vehicle reverse driving device, wherein the vehicle is equipped with a rear steering mechanism; wherein the device includes: a first acquisition module, used to acquire the gear state of the vehicle; a first processing module, used to display first image information to the display device of the vehicle if the gear state of the vehicle is a reverse gear state, so that the target object controls the steering wheel of the vehicle based on the first image information and generates a first control signal; a second processing module, used to control the rear steering mechanism based on the first control signal to make the vehicle reverse.

[0020] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle reverse driving method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the vehicle reverse driving method of the first aspect or any corresponding embodiment thereof.

[0022] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the vehicle reverse driving method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 is a schematic flow chart of a method for reverse driving of a vehicle according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the configuration position of a vehicle camera according to an embodiment of the present invention;

[0026] Figure 3 is a flow chart of a vehicle reverse driving method system according to an embodiment of the present invention;

[0027] Figure 4 is a structural block diagram of a vehicle reverse driving device according to an embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] Based on relevant technologies, it can be seen that with the acceleration of urbanization, cars have become an indispensable means of transportation in modern life. However, with the surge in the number of vehicles, the urban traffic environment is becoming increasingly complex, and the driving skills required of drivers are also increasing. In various driving scenarios, reversing into a garage and reverse driving have become a problem faced by many drivers, especially novice drivers, due to their unique operating requirements and high spatial perception requirements. Such operations require not only precise control skills, but also good spatial judgment ability, reaction speed, and comprehensive perception of the vehicle's surroundings.

[0031] At present, when encountering the situation that reverse driving is required, the driver is required to use the rearview mirror to observe the rear situation, which requires the driver's reverse sense to achieve the purpose of reversing the vehicle.

[0032] However, the field of view of the rearview mirror is relatively small and cannot completely cover all areas behind the vehicle, especially the far areas on both sides of the vehicle, which are prone to form blind spots and thus easily cause danger.

[0033] Based on this, the present invention provides a method for reverse driving of a vehicle, which allows the driver to more intuitively see the actual situation behind the vehicle through the rear steering mechanism combined with the first image information displayed by the display device (such as the central control large screen or the rearview mirror display screen), thereby reducing the risk of collision caused by blind spots. In addition, the rear steering mechanism allows the vehicle to be turned to a certain extent when reversing, thereby reducing the turning radius and making it easier for the vehicle to complete the reversing action in a narrow space. In addition, the use of the rear steering mechanism allows the driver to operate the vehicle according to the forward driving habit to achieve reverse driving, thereby improving the smoothness of the operation.

[0034] According to an embodiment of the present invention, an embodiment of a method for reverse driving of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] In this embodiment, a method for reverse driving of a vehicle is provided, which can be used for computer equipment, such as a computer, a server, a vehicle-mounted terminal, etc. Figure 1 is a flow chart of a method for reverse driving of a vehicle according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0036] Step S101, obtaining the gear status of the vehicle.

[0037] The gear status can be used to characterize the gear at which the vehicle starts. Among them, the gear status may include: reverse gear status, forward gear status, parking gear status, etc., which are not specifically limited here. Specifically, the gear signal can be directly read by the gear sensor equipped inside the vehicle. The gear information can also be obtained through the bus system inside the vehicle (such as the CAN bus). The gear status can also be obtained by reading the gear display on the instrument panel, etc., which is not specifically limited here and can be implemented by technical personnel in this field. For example: when the driver shifts the gear from the forward gear to the reverse gear, the gear sensor detects this change and sends a signal to the vehicle control system, which then performs the corresponding operation.

[0038] Step S102, if the gear state of the vehicle is the reverse gear state, the first image information is displayed on the display device of the vehicle, so that the target object controls the steering wheel of the vehicle based on the first image information, and generates a first control signal.

[0039] When it is detected that the vehicle is in reverse gear, the reversing image function will be automatically activated, and the real-time image behind the vehicle will be displayed on the vehicle's display device (such as the central control screen, front windshield projection, etc.). The driver adjusts the steering wheel according to the displayed image information to generate a control signal. For example: when the driver is reversing, he observes that there is an obstacle behind the vehicle displayed on the central control screen, so he adjusts the steering wheel to avoid the obstacle. In this process, the driver's operation behavior is to generate the first control signal.

[0040] Step S103: controlling the rear steering mechanism based on the first control signal to make the vehicle travel in reverse.

[0041] After receiving the first control signal generated by the driver through the steering wheel, the control system will analyze the signal and control the rear steering mechanism according to its instructions, so that the vehicle can reverse according to the driver's intention. For example, when the driver finds that he needs to adjust the direction of the vehicle to avoid obstacles during the reversing process, he sends a control signal through the steering wheel. After receiving the signal, the vehicle control system controls the rear steering mechanism (or controls the front and rear steering mechanisms at the same time) to achieve reverse driving of the vehicle.

[0042] The vehicle reverse driving method provided in this embodiment, through the rear steering mechanism combined with the first image information displayed by the display device (such as the central control large screen or the rearview mirror display screen), can allow the driver to see the actual situation behind the vehicle more intuitively, thereby reducing the risk of collision caused by blind spots. In addition, the rear steering mechanism allows the vehicle to be turned to a certain extent when reversing, thereby reducing the turning radius and making it easier for the vehicle to complete the reversing action in a narrow space. In addition, the use of the rear steering mechanism allows the driver to operate the vehicle according to the forward driving habit to achieve reverse driving, thereby improving the smoothness of the operation.

[0043] In an optional implementation, in the above step S102, if the gear state of the vehicle is the reverse gear state, displaying the first image information on a display device of the vehicle includes:

[0044] Step a1: if the gear state of the vehicle is the reverse gear state, projecting the first image information onto the front window of the vehicle through a projection device.

[0045] When the vehicle is in the reverse gear state, the reversing image function is automatically activated, and the real-time image behind the vehicle (i.e., the first image information) is projected onto the front windshield of the vehicle through a projection device. In this way, the driver can observe the road conditions behind the vehicle without shifting his sight while maintaining a normal driving posture, thereby improving the safety and convenience of reversing. Specifically, HUD technology can be used to project the reversing image information directly onto the front windshield to form an effect similar to a transparent display screen. This method requires the vehicle to be equipped with a HUD system, and the system needs to support the projection function of the reversing image. It is also possible to use a projection device dedicated to reversing images, which can be independent of the HUD system and is specifically used to project the reversing image onto the front windshield, etc., which is not specifically limited here and can be implemented by those skilled in the art. For example: when the driver puts the vehicle into reverse gear, the vehicle automatically projects the real-time road condition image behind onto the front windshield through the HUD system or a dedicated projection device. While observing the road conditions ahead, the driver can clearly see the reversing image on the windshield, thereby accurately judging the distance and obstacles behind the vehicle.

[0046] Step a2, displaying the first image information on the central control screen.

[0047] The central control screen can be the central display screen in the vehicle cockpit, which is used to display various vehicle information (such as navigation, entertainment, vehicle status, etc.) and auxiliary driving information such as reversing images.

[0048] When the vehicle is in the reverse gear state, another common practice is to display the real-time image (i.e., the first image information) behind the vehicle on the central control screen. The central control screen is usually located in the center of the vehicle's cockpit, and the driver can grasp the road conditions behind the vehicle by observing the image on the central control screen. Specifically, it can be achieved through the vehicle's built-in reversing imaging system, wherein the system captures images through a camera installed at the rear of the vehicle, and automatically displays the images on the central control screen, etc., which is not specifically limited here and can be implemented by those skilled in the art. For example: when the driver puts the vehicle into reverse gear, the central control screen automatically switches to the reversing image mode and displays the real-time road condition image behind the vehicle. By observing the image on the central control screen, the driver can clearly see the obstacles and distance conditions behind the vehicle, thereby safely completing the reversing operation.

[0049] The vehicle reverse driving method provided in this embodiment projects image information directly onto the windshield directly in front of the driver, so that the driver can easily check the situation behind while maintaining a normal driving posture, without having to frequently turn his head or adjust his sight, thereby improving driving concentration and safety. Since the image information is directly projected onto the windshield, there is no need to occupy additional space on the central control screen or other display devices, so the use of the space inside the vehicle can be optimized, making the cockpit neater and more spacious.

[0050] In an optional embodiment, the vehicle is equipped with a front steering mechanism, and the method further comprises:

[0051] Step b1: if the gear state of the vehicle is the forward gear, generate a second control signal.

[0052] When the vehicle is in forward gear, the driver generates a second control signal by operating the steering wheel or other steering control device according to the driving intention and road condition information. This signal contains the direction and degree that the driver wants the vehicle to turn, and is the basis for the vehicle control system to perform steering operations. Specifically, the second control signal can be generated by turning the steering wheel. The steering wheel rotation angle and speed will be captured by the sensor and converted into electrical signals and transmitted to the vehicle control system. In automatic driving or advanced driver assistance systems, the vehicle can also automatically sense the surrounding environment through sensors such as cameras, radars, and lidars, and autonomously generate a second control signal according to preset algorithms and rules.

[0053] Step b2, controlling the front steering mechanism based on the second control signal to make the vehicle travel in reverse.

[0054] After receiving the second control signal, the signal will be analyzed and the front steering mechanism will be controlled according to its instructions, so that the vehicle can reverse according to the driver's intention. The front steering mechanism usually includes steering knuckles, steering rods, steering gears and other components, which work together to convert the driver's steering intention into the actual steering action of the vehicle.

[0055] The reverse driving method of the vehicle provided in this embodiment realizes the reverse driving of the vehicle by controlling the front steering mechanism in the forward gear, and the driver can more flexibly adjust the driving trajectory of the vehicle to adapt to different roads and driving environments. This flexibility is particularly important in scenes such as narrow roads, complex traffic conditions or emergency obstacle avoidance.

[0056] In an optional implementation, the above step S103 includes:

[0057] Step c1, determining the rotation angle and the rotation direction of the vehicle based on the first control signal.

[0058] Parse the first control signal received from the steering wheel or other steering control device. The first control signal contains the intention of the vehicle to turn, including the expected rotation angle and rotation direction. According to the specific content of the signal, the rotation angle and rotation direction that the vehicle needs to achieve are calculated through an algorithm or a preset mapping relationship. Specifically, the steering wheel rotation angle, speed and other parameters can be converted into the rotation angle and rotation direction that the vehicle should achieve through the built-in signal parser and mapping table of the control system. In addition to the steering wheel sensor, the vehicle may also be equipped with sensors such as gyroscopes and accelerometers for real-time monitoring of the vehicle's posture and motion state. The data from these sensors can be used as auxiliary information to help the control system more accurately determine the rotation angle and rotation direction of the vehicle, etc., which is not specifically limited here and can be implemented by those skilled in the art.

[0059] Step c2, controlling the rear steering mechanism based on the rotation angle and the rotation direction of the vehicle, so that the rear wheels of the vehicle rotate according to the rotation angle and the rotation direction of the vehicle, so that the vehicle travels in reverse.

[0060] According to the rotation angle and rotation direction determined in step c1, the rear steering mechanism is controlled. The rear steering mechanism usually includes components such as the steering knuckle and the steering tie rod of the rear wheel, which are connected to the vehicle control system through mechanical connection or electronic control. The control system sends a control instruction to the rear steering mechanism to drive the rear wheels to rotate according to the specified rotation angle and rotation direction, thereby realizing reverse driving of the vehicle.

[0061] The reverse driving method of the vehicle provided in this embodiment can achieve precise control of the reverse driving of the vehicle by precisely controlling the rotation angle and direction of the rear steering mechanism. This control is not limited to straight-line reverse driving, but also includes flexible steering in a small space, thereby improving the overall driving flexibility of the vehicle. In addition, in scenarios where rapid steering or parking is required, the vehicle can achieve a smaller turning radius by controlling the rear steering mechanism, making it possible to complete complex driving operations in a limited space.

[0062] In an optional embodiment, the above method further includes:

[0063] Step d1, obtain the road conditions around the vehicle captured by the vehicle's camera equipment to obtain second image information; wherein the vehicle's camera equipment is set at least four around the vehicle, respectively used to capture the road conditions in front, behind, on the left and on the right of the vehicle.

[0064] Combination Figure 2As shown, the vehicle is equipped with at least four camera devices, which are respectively arranged in front, rear, left and right of the vehicle to realize comprehensive monitoring of the 360-degree road environment around the vehicle. Each camera device is responsible for photographing the road environment in its corresponding direction and transmitting the photographed image as the second image information to the vehicle control system or the relevant image processing unit.

[0065] Preferably, the camera device may have a night vision function, which can capture clear images in dim light or at night.

[0066] Preferably, if the vehicle is not directly equipped with a 360-degree panoramic camera system, the images captured by multiple cameras can be stitched together to form a complete road environment image around the vehicle.

[0067] For example, when an autonomous vehicle is driving, a high-definition camera is installed in front, behind, on the left and on the right. These four cameras respectively capture the road conditions in front of the vehicle, the traffic conditions behind, and the pedestrians and vehicle dynamics on the left and right sides, and transmit these images as the second image information to the autonomous driving system.

[0068] Step d2, processing the second image information to obtain the first image information.

[0069] A series of processing operations are performed on the received second image information to extract useful information and generate the first image information. These processing operations may include image denoising, image enhancement, image fusion, feature extraction, etc. Specifically, a filtering algorithm is used to remove noise interference in the image, improve the clarity and quality of the image, and adjust the image brightness, contrast and other parameters to make the image more vivid and easy to observe. If the vehicle is equipped with multiple cameras, the images captured by them can be fused to form a panoramic image or a composite image, etc., which is not specifically limited here and can be implemented by those skilled in the art. For example: the second image information obtained in step d1 may contain some noise and redundant information. In step d2, the automatic driving system removes these noise interferences through an image denoising algorithm, and improves the brightness and contrast of the image through an image enhancement algorithm. At the same time, the system also uses image fusion technology to splice the images captured by multiple cameras into a panoramic image as the first image information for subsequent processing.

[0070] The vehicle reverse driving method provided in this embodiment can realize all-round monitoring of the surrounding environment through the camera devices in four directions, reducing or eliminating blind spots. This is crucial to improving driving safety, especially in complex or crowded traffic environments. In addition, the driver can obtain real-time road condition information around the vehicle, including pedestrians, other vehicles, obstacles, etc., so as to make more accurate and timely driving decisions.

[0071] In an alternative embodiment, in combination Figure 3 As shown, the present invention provides a vehicle reverse driving system, which includes: a steering wheel, a processor, a forward gear, a reverse gear, a front steering mechanism and a rear steering mechanism.

[0072] When the driver turns the steering wheel, this information is captured and transmitted to the processor. After receiving the left or right turn information of the steering wheel, the processor generates a "forward gear valid signal". This valid signal is then sent to the "forward steering mechanism" to instruct the vehicle to move forward in the direction indicated by the steering wheel (left or right).

[0073] When the driver chooses to reverse, this device sends a signal to the processor. After receiving the reverse signal, the processor generates a "reverse gear valid signal". At the same time, if the steering wheel is also turned to indicate a left turn or a right turn, these two signals (reverse gear valid signal and left turn / right turn information) are sent together to the "reverse steering mechanism". The rear steering mechanism controls the vehicle to reverse in the direction indicated by the steering wheel (left turn or right turn) according to the received signal.

[0074] In this embodiment, a vehicle reverse driving device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0075] This embodiment provides a vehicle reverse driving device, the vehicle is equipped with a rear steering mechanism, such as Figure 4 As shown, including:

[0076] The first acquisition module 401 is used to acquire the gear state of the vehicle; the first processing module 402 is used to display the first image information to the display device of the vehicle if the gear state of the vehicle is the reverse gear state, so that the target object controls the steering wheel of the vehicle based on the first image information and generates a first control signal; the second processing module 403 is used to control the rear steering mechanism based on the first control signal to make the vehicle drive in reverse.

[0077] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0078] The vehicle reversing driving device in this embodiment is presented in the form of a functional unit, where the functional unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0079] The embodiment of the present invention also provides a computer device having the above Figure 4 The vehicle is shown in reverse running gear.

[0080] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0081] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0082] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0083] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0085] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0086] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0087] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0088] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for reverse driving of a vehicle, characterized in that: The vehicle is equipped with a rear steering mechanism; wherein the method comprises: Get the gear status of the vehicle; If the gear state of the vehicle is a reverse gear state, displaying the first image information on a display device of the vehicle, so that the target object controls the steering wheel of the vehicle based on the first image information, and generates a first control signal; The rear steering mechanism is controlled based on the first control signal to make the vehicle travel in reverse.

2. The vehicle reverse driving method according to claim 1, characterized in that: If the gear state of the vehicle is a reverse gear state, displaying the first image information on a display device of the vehicle includes: If the gear state of the vehicle is the reverse gear state, projecting the first image information onto the front glass of the vehicle through a projection device; or, The first image information is displayed on the central control screen.

3. The vehicle reverse driving method according to claim 1, characterized in that: The vehicle is equipped with a front steering mechanism, and the method further comprises: If the gear state of the vehicle is the forward gear, generating a second control signal; The front steering mechanism is controlled based on the second control signal to make the vehicle travel in a forward direction.

4. The vehicle reverse driving method according to claim 1, characterized in that: The controlling the rear steering mechanism based on the first control signal to make the vehicle travel in reverse direction comprises: Based on the first control signal, determining a rotation angle of the vehicle and a rotation direction of the vehicle; The rear steering mechanism is controlled based on the rotation angle of the vehicle and the rotation direction of the vehicle, so that the rear wheels of the vehicle are rotated according to the rotation angle of the vehicle and the rotation direction of the vehicle, so that the vehicle travels in reverse.

5. The vehicle reverse driving method according to claim 1, characterized in that: The step of determining the first image information comprises: Obtaining the road conditions around the vehicle captured by the vehicle's camera equipment to obtain second image information; wherein the vehicle's camera equipment is provided with at least four cameras around the vehicle, respectively used to capture the road conditions in front of, behind, on the left side, and on the right side of the vehicle; The second image information is processed to obtain the first image information.

6. A vehicle reverse driving device, characterized in that: The vehicle is provided with a rear steering mechanism; wherein the device comprises: A first acquisition module, used to acquire the gear status of the vehicle; a first processing module, configured to display first image information on a display device of the vehicle if the gear state of the vehicle is a reverse gear state, so that the target object controls the steering wheel of the vehicle based on the first image information, and generates a first control signal; The second processing module is used to control the rear steering mechanism based on the first control signal to make the vehicle travel in reverse.

7. The vehicle reverse running device according to claim 6, characterized in that: The first processing module includes: a first processing unit, configured to project the first image information onto a front window of the vehicle through a projection device if the gear state of the vehicle is a reverse gear state; or The second processing unit is used to display the first image information on the central control screen.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle reverse driving method according to any one of claims 1 to 5 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle reverse driving method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the vehicle reverse driving method according to any one of claims 1 to 5.

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