Tracking reversing control method and device, terminal equipment and storage medium

Abstract

The invention provides a tracking reversing control method and device, terminal equipment and a storage medium, and the method comprises the steps: obtaining a current position of a target vehicle in response to a tracking reversing instruction issued by a user, carrying out the cyclic coverage with the current position as an end point, and obtaining historical driving data within a preset distance; performing traversal query in the historical driving data based on the current position to obtain a historical driving track from the current position to a parking position, and performing track backtracking on the historical driving track to generate a reversing path; and controlling the target vehicle to perform tracking backing along the backing path until the target vehicle arrives at the parking position. According to the invention, the flexibility and accuracy of the tracking reversing function can be improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving assistance technology, and in particular to a tracking and reversing control method, device, terminal equipment and storage medium. Background Art

[0002] Tracking reverse is an intelligent driving assistance function designed to help drivers reverse safely in narrow or complex spaces. This function records the vehicle's most recent forward path, and when the driver starts tracking reverse, it automatically controls the steering wheel, brakes and accelerator to reverse the vehicle back to the starting point along the recorded path. This function is particularly suitable for scenes such as narrow roads, alleys, lanes or narrow parking lots with obstacles on both sides of the lane, and effectively solves the problem of "easy to drive in, difficult to reverse out" for drivers in these environments. Tracking reverse functions in the prior art are mostly implemented through the following steps: the intelligent driving assistance system records the 50-meter path of the vehicle moving forward at a low speed, and identifies and stores key nodes in the path, such as turning points, lane lines, etc. When the driver starts the tracking reverse function, the system automatically controls the vehicle's steering wheel, brakes and accelerator to reverse along the recorded path.

[0003] Although the existing tracking reverse function has solved the reversing problem to a certain extent, there are still problems such as limited reversing distance and low turning accuracy. The existing system only records the length of the forward path at low speed, which is insufficient in complex or long paths, especially in single-lane or double-lane scenarios. Users often encounter the problem of supporting a reversing path that is too short; and at turns, the existing system has difficulty accurately identifying and processing complex turning paths, resulting in path deviations or excessive turns during the reversing process, affecting the accuracy and safety of reversing. Due to the above limitations, the existing system's tracking reverse success rate is low and cannot fully meet user expectations, especially in complex or dynamically changing environments. Summary of the invention

[0004] The present invention aims to provide a tracking and reversing control method, device, terminal equipment and storage medium to solve the above-mentioned technical problems and improve the flexibility and accuracy of the tracking and reversing function.

[0005] In order to solve the above technical problems, the present invention provides a tracking reverse control method, comprising:

[0006] In response to the tracking and reversing instruction issued by the user, the current position of the target vehicle is obtained, and a loop is performed with the current position as the end point to obtain historical driving data within a preset distance;

[0007] Performing a traversal query in the historical driving data based on the current position to obtain a historical driving trajectory from the current position to the parking position, and performing a trajectory backtracking on the historical driving trajectory to generate a reversing path;

[0008] The target vehicle is controlled to perform tracking reverse along the reverse path until it reaches the parking position.

[0009] In the above scheme, the current position is used as the starting point to reversely search the historical driving trajectory of the vehicle. No matter where the vehicle is currently located, the path planning can be based on the current position. By traversing the historical data, the previous driving path and parking position of the vehicle can be accurately found, the accuracy of the tracking and reversing function can be improved, and the versatility of the tracking and reversing function can be enhanced. By reversing the historical driving trajectory to generate a reversing path, it can be ensured that the reversing path is consistent with the original driving path, and the success rate of tracking and reversing can be improved. Backtracking the actual driving trajectory can generate a safer and smoother reversing path, reducing errors in path planning.

[0010] In one implementation, the looping with the current position as the end point to obtain historical driving data within a preset distance specifically includes:

[0011] In response to a tracking and reversing instruction issued by a user, a positioning device and a sensor device are called to obtain an initial position of the target vehicle;

[0012] Acquire road information in a high-precision map, match the initial position with the road information, and obtain the current position of the target vehicle;

[0013] Taking the current position as the center of the circle and the preset distance as the circular coverage radius, circular coverage is performed to obtain the historical driving data of the target vehicle.

[0014] In one implementation, the tracking reverse control method further includes, when the target vehicle is in a driving state, recording driving data of the target vehicle based on a sensor device, specifically:

[0015] When the target vehicle is in a driving state, the driving data of the target vehicle is continuously collected based on a high-precision sensor device; wherein the driving data includes driving environment data and driving trajectory data;

[0016] The driving environment data includes road marking information, obstacle information, road boundary information and traffic signal information;

[0017] The driving trajectory data includes vehicle speed and steering angle.

[0018] In one implementation, performing a traversal query in the historical driving data based on the current position to obtain a historical driving trajectory from the current position to the parking position, and backtracking the historical driving trajectory to generate a reversing path specifically includes:

[0019] Acquire the historical driving data within a preset time length, and perform a traversal query on the historical driving data;

[0020] Performing an analysis operation on the historical driving data, and obtaining a first historical driving trajectory with the shortest distance from the current position to the parking position according to the analysis operation result; wherein the analysis operation is identifying a turning point and an acceleration point;

[0021] The first historical driving trajectory is backtracked to generate the reversing path.

[0022] In one implementation, controlling the target vehicle to reverse along the reversing path until reaching the parking position specifically includes:

[0023] Collecting real-time driving environment data of the target vehicle, and executing a preset path adjustment strategy according to the type of information contained in the real-time driving environment data; wherein the path adjustment strategy includes an obstacle avoidance path adjustment strategy and a driving path adjustment strategy;

[0024] The obstacle avoidance path adjustment strategy is to calculate an obstacle avoidance path according to the obstacle information so that the target vehicle can bypass the obstacle according to the obstacle avoidance path;

[0025] The driving path adjustment strategy is to control the target vehicle according to the road marking information and the road boundary information so that the target vehicle drives within the lane line along the reversing path.

[0026] In one implementation, the controlling the target vehicle to perform tracking and reversing along the reversing path until reaching the parking position further includes:

[0027] The driving trajectory of the target vehicle is detected in real time. When the deviation between the driving trajectory and the reversing path reaches a preset deviation threshold, an offset adjustment instruction is generated based on a path planning algorithm and the target vehicle is controlled based on the offset adjustment instruction until the driving trajectory of the target vehicle is consistent with the reversing path.

[0028] In a second aspect, the present application also provides a tracking and reversing control device, comprising: a data acquisition module, a trajectory generation module and a reversing control module;

[0029] The data acquisition module is used to respond to the tracking and reversing instruction issued by the user, obtain the current position of the target vehicle, perform cyclic coverage with the current position as the end point, and obtain historical driving data within a preset distance;

[0030] The trajectory generation module is used to perform a traversal query in the historical driving data based on the current position, obtain the historical driving trajectory from the current position to the parking position, and perform trajectory backtracking on the historical driving trajectory to generate a reversing path;

[0031] The reversing control module is used to control the target vehicle to reverse along the reversing path until it reaches the parking position.

[0032] In the above scheme, the current position is used as the starting point to reversely search the historical driving trajectory of the vehicle. No matter where the vehicle is currently located, the path planning can be based on the current position. By traversing the historical data, the previous driving path and parking position of the vehicle can be accurately found, the accuracy of the tracking and reversing function can be improved, and the versatility of the tracking and reversing function can be enhanced. By reversing the historical driving trajectory to generate a reversing path, it can be ensured that the reversing path is consistent with the original driving path, and the success rate of tracking and reversing can be improved. Backtracking the actual driving trajectory can generate a safer and smoother reversing path, reducing errors in path planning.

[0033] In one implementation, the loop coverage is performed with the current position as the end point to obtain historical driving data within a preset distance, specifically including:

[0034] In response to a tracking and reversing instruction issued by a user, a positioning device and a sensor device are called to obtain an initial position of the target vehicle;

[0035] Acquire road information in a high-precision map, match the initial position with the road information, and obtain the current position of the target vehicle;

[0036] Taking the current position as the center of the circle and the preset distance as the circular coverage radius, circular coverage is performed to obtain the historical driving data of the target vehicle.

[0037] In one implementation, the tracking reverse control device further includes recording the driving data of the target vehicle based on the sensor device when the target vehicle is in a driving state, specifically:

[0038] When the target vehicle is in a driving state, the driving data of the target vehicle is continuously collected based on a high-precision sensor device; wherein the driving data includes driving environment data and driving trajectory data;

[0039] The driving environment data includes road marking information, obstacle information, road boundary information and traffic signal information;

[0040] The driving trajectory data includes vehicle speed and steering angle.

[0041] In one implementation, performing a traversal query in the historical driving data based on the current position to obtain a historical driving trajectory from the current position to the parking position, and backtracking the historical driving trajectory to generate a reversing path specifically includes:

[0042] Acquire the historical driving data within a preset time length, and perform a traversal query on the historical driving data;

[0043] Performing an analysis operation on the historical driving data, and obtaining a first historical driving trajectory with the shortest distance from the current position to the parking position according to the analysis operation result; wherein the analysis operation is identifying a turning point and an acceleration point;

[0044] The first historical driving trajectory is backtracked to generate the reversing path.

[0045] In one implementation, controlling the target vehicle to reverse along the reversing path until reaching the parking position specifically includes:

[0046] Collecting real-time driving environment data of the target vehicle, and executing a preset path adjustment strategy according to the type of information contained in the real-time driving environment data; wherein the path adjustment strategy includes an obstacle avoidance path adjustment strategy and a driving path adjustment strategy;

[0047] The obstacle avoidance path adjustment strategy is to calculate an obstacle avoidance path according to the obstacle information so that the target vehicle can bypass the obstacle according to the obstacle avoidance path;

[0048] The driving path adjustment strategy is to control the target vehicle according to the road marking information and the road boundary information so that the target vehicle drives within the lane line along the reversing path.

[0049] In one implementation, the controlling the target vehicle to perform tracking and reversing along the reversing path until reaching the parking position further includes:

[0050] The driving trajectory of the target vehicle is detected in real time. When the deviation between the driving trajectory and the reversing path reaches a preset deviation threshold, an offset adjustment instruction is generated based on a path planning algorithm and the target vehicle is controlled based on the offset adjustment instruction until the driving trajectory of the target vehicle is consistent with the reversing path.

[0051] In a third aspect, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the tracking reversing control method as described above is implemented.

[0052] In a fourth aspect, the present application further provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the tracking reversing control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic flow chart of a tracking reverse control method provided in one embodiment of the present invention;

[0054] Figure 2 A module schematic diagram of a tracking and reversing control device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0055] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0056] The terms "first" and "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0057] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] Example 1

[0059] See also Figure 1 , Figure 1 1 is a flow chart of a tracking and reversing control method provided in an embodiment of the present invention. The present invention provides a tracking and reversing control method, including steps 101 to 103, each of which is as follows:

[0060] Step 101: In response to a tracking and reversing instruction issued by a user, the current position of the target vehicle is obtained, and a loop is performed with the current position as the end point to obtain historical driving data within a preset distance.

[0061] In one embodiment, the loop coverage is performed with the current position as the end point to obtain historical driving data within a preset distance, specifically including: in response to a tracking and reversing instruction issued by a user, calling a positioning device and a sensor device to obtain the initial position of the target vehicle; obtaining road information in a high-precision map, matching the initial position with the road information, and obtaining the current position of the target vehicle; loop coverage is performed with the current position as the center of the circle and the preset distance as the loop coverage radius to obtain historical driving data of the target vehicle.

[0062] In an embodiment of the present invention, when a quick reverse command sent by a user is received, the initial position of the vehicle is determined by devices such as a global positioning system (GPS), an inertial measurement unit (IMU) and vehicle-mounted sensors (such as wheel speed sensors, steering angle sensors, etc.). Preferably, high-precision map data, GPS and other sensor data can also be fused to improve positioning accuracy. Then, the obtained initial position of the vehicle is matched with the road information in the high-precision map through a map matching algorithm to generate the current position of the target vehicle, further improving the accuracy of positioning. After obtaining the current position of the target vehicle, the system generates a circular area according to a preset loop coverage radius to ensure that the vehicle can cover all paths in this area during the reversing process. Preferably, the loop coverage radius in the embodiment of the present invention is 100 meters.

[0063] In one embodiment, the tracking reverse control method also includes recording the driving data of the target vehicle based on the sensor device when the target vehicle is in a driving state, specifically: when the target vehicle is in a driving state, the driving data of the target vehicle is continuously collected based on the high-precision sensor device; wherein the driving data includes driving environment data and driving trajectory data; the driving environment data includes road marking information, obstacle information, road boundary information and traffic signal information; the driving trajectory data includes vehicle speed and steering angle.

[0064] In the embodiment of the present invention, real-time data of the surrounding environment is collected by various sensors, such as radar, camera, ultrasonic sensor, etc. These data include but are not limited to road markings, obstacle information, road boundaries, traffic signals and driving trajectory data, also known as the vehicle's own state, such as vehicle speed, steering angle, vehicle size, etc. The collected driving data is used as an important reference for subsequent path planning and obstacle avoidance. Among them, road markings include single lane lines, double lane lines, intersection markings, etc., which can be used to determine the vehicle's driving path and lane position; obstacle information includes static obstacles (such as roadblocks, walls, trees, etc.) and dynamic obstacles (such as pedestrians, other vehicles, etc.), which are crucial for planning obstacle avoidance paths; road boundaries include guardrails and shoulders on both sides of the road, which can be used to determine the vehicle's driving boundaries and prevent the vehicle from deviating from the road; traffic light information includes traffic lights, traffic signs, etc., which affect the vehicle's driving speed and path selection. The vehicle position, vehicle and steering angle can be used to analyze the user's driving habits and applied to subsequent path planning, speed control and driving trajectory control. The real-time and accuracy of driving data are of vital importance to ensure that the vehicle can complete the tracking and reversing tasks safely and efficiently.

[0065] Step 102: performing a traversal query in the historical driving data based on the current position, obtaining a historical driving trajectory from the current position to the parking position, and backtracing the historical driving trajectory to generate a reversing path.

[0066] In one embodiment, the traversal query is performed in the historical driving data based on the current position to obtain the historical driving trajectory from the current position to the parking position, and the historical driving trajectory is traced back to generate a reversing path, which specifically includes: obtaining the historical driving data within a preset time length, and traversing the historical driving number; performing an analysis operation on the historical driving data, and obtaining the first historical driving trajectory with the shortest distance from the current position to the parking position according to the analysis operation result; wherein the analysis operation is to identify turning points and acceleration points; and the first historical driving trajectory is traced back to generate the reversing path.

[0067] In an embodiment of the present invention, historical driving data within a preset time window (e.g., the past 5 minutes) is retrieved based on the current position and the preset distance, and the historical trajectory information of the target vehicle is analyzed based on these data. In the historical driving data, starting from the parking position, traverse to the current position in chronological order to obtain a complete driving trajectory. Through the traversal query, the obtained driving trajectory is matched with the current position to ensure the continuity and accuracy of the trajectory. Preferably, the historical driving data can also be analyzed by time series analysis technology to identify key driving trajectory points, such as turning points, acceleration points, etc. Based on the analysis results, the driving trajectory is backtracked using a Bezier curve or a spline curve to generate a smooth reversing path.

[0068] Step 103: Control the target vehicle to reverse along the reversing path until it reaches the parking position.

[0069] After the reversing path is generated, the control system immediately takes over the vehicle's operation and starts to perform reversing. By continuously adjusting the steering angle and speed, the vehicle will reverse along the generated path, while real-time monitoring and adjustment are carried out through sensor feedback to ensure the safety of the reversing process.

[0070] In one embodiment, the controlling the target vehicle to perform tracking and reversing along the reversing path until reaching the parking position specifically includes: collecting real-time driving environment data of the target vehicle, and executing a preset path adjustment strategy according to the type of information contained in the real-time driving environment data; wherein the path adjustment strategy includes an obstacle avoidance path adjustment strategy and a driving path adjustment strategy; the obstacle avoidance path adjustment strategy is to calculate an obstacle avoidance path according to the obstacle information so that the target vehicle can bypass the obstacle according to the obstacle avoidance path; the driving path adjustment strategy is to control the target vehicle according to the road marking information and the road boundary information so that the target vehicle can travel within the lane line along the reversing path.

[0071] In the embodiment of the present invention, multiple sensors such as cameras, radars, and ultrasonic sensors are used to collect the driving environment data of the target vehicle in real time, including obstacle information, road marking information, road boundary information, etc. Obstacle information includes the position, size, shape, and moving speed of the obstacle; road marking information includes the position, type (single lane line, double lane line), curvature, etc. of the lane line; and road boundary information includes the position and shape of the road edge, etc. In the obstacle avoidance path adjustment strategy, after obtaining the distance and speed information of the obstacle through sensor devices such as radar or ultrasonic sensors, the optimal path to bypass the obstacle is calculated using a path planning algorithm such as the Dijkstra algorithm and the RRT (rapid random tree) algorithm, so that the target vehicle can safely bypass the obstacle according to the obstacle avoidance path obtained by i, and then adjust the vehicle back to the original reversing path track. In the driving path adjustment strategy, for single lane line and double lane line scenarios, the path that the vehicle should travel along the lane line or be centered is calculated according to the position of the lane line and the current position of the vehicle. The vehicle is kept on the predetermined trajectory by controlling the steering wheel and the vehicle speed. Preferably, in a two-lane scenario, the system will calculate the distance between the vehicle and the lane lines on both sides and adjust the steering wheel angle to keep the vehicle centered.

[0072] In one embodiment, the controlling the target vehicle to reverse along the reversing path until reaching the parking position also includes: real-time detection of the driving trajectory of the target vehicle, and when the deviation between the driving trajectory and the reversing path reaches a preset deviation threshold, generating an offset adjustment instruction based on a path planning algorithm and controlling the target vehicle based on the offset adjustment instruction until the driving trajectory of the target vehicle is consistent with the reversing path.

[0073] In an embodiment of the present invention, during the reversing process, high-precision sensor equipment will continue to receive and process real-time environmental information, including the vehicle's driving status, changes in surrounding obstacles, etc. The reversing path is dynamically adjusted and optimized according to the actual driving status and environmental changes to ensure that the vehicle can cope with various changes in a complex environment. Exemplarily, when the vehicle deviates from the predetermined trajectory, a path planning algorithm such as the D algorithm or the D Lite algorithm is used to generate new steering wheel angle adjustment instructions and vehicle speed adjustment instructions, and the path is adjusted in real time in a dynamic environment to bring the vehicle back to the trajectory of the reversing path.

[0074] As another optimization scheme of the embodiment of the present invention, the tracking reverse control method also includes identifying the driver's driving operation during the reverse process and evaluating the impact of the driving operation on the reverse path. Specifically, it is able to identify the driver's operation, such as braking, shifting, turning the steering wheel, etc. When the driver's operation may cause danger or reduce the success rate of reverse, the system provides corresponding auxiliary prompts, such as sound reminders, visual instructions, etc. In extreme cases, the assisted driving system will actively terminate the reverse operation to ensure safety.

[0075] In an embodiment of the present invention, a tracking and reversing control device is also provided, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the above-mentioned tracking and reversing control method is implemented.

[0076] In an embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored computer program. When the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned tracking and reversing control method.

[0077] Exemplarily, the computer program may be divided into one or more modules, one or more modules are stored in a memory and executed by a processor to implement the present invention. One or more modules may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the tracking reverse control device.

[0078] The tracking and reversing control device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The tracking and reversing control device may include, but is not limited to, a processor, a memory, and a display. Those skilled in the art will appreciate that the above components are merely examples of the tracking and reversing control device and do not constitute a limitation on the tracking and reversing control device. The tracking and reversing control device may include more or fewer components than the components, or a combination of certain components, or different components. For example, the tracking and reversing control device may also include input and output devices, network access devices, buses, etc.

[0079] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the tracking and reversing control device, and uses various interfaces and lines to connect various parts of the entire tracking and reversing control device.

[0080] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the tracking and reversing control device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, a text conversion function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0081] Among them, if the module based on tracking reverse control is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0082] The embodiment of the present invention provides a tracking and reversing control method, which takes the current position as the starting point and reversely searches for the historical driving trajectory of the vehicle. No matter where the vehicle is currently located, the path planning can be based on the current position. By traversing the historical data, the previous driving path and parking position of the vehicle can be accurately found, the accuracy of tracking and reversing can be improved, and the versatility of the tracking and reversing function can be enhanced. By generating a reversing path by reversing the historical driving trajectory, it can be ensured that the reversing path is consistent with the original driving path, and the success rate of tracking and reversing can be improved. By backtracking the actual driving trajectory, a safer and smoother reversing path can be generated, reducing errors in path planning.

[0083] Example 2

[0084] See also Figure 2 , Figure 2 Schematic diagram of a module of a tracking and reversing control device provided in an embodiment of the present invention. The embodiment of the present invention provides a tracking and reversing control device, including: a data acquisition module 201, a trajectory generation module 202 and a reversing control module 203;

[0085] The data acquisition module 201 is used to respond to the tracking and reversing instruction issued by the user, obtain the current position of the target vehicle, perform cyclic coverage with the current position as the end point, and obtain historical driving data within a preset distance;

[0086] The trajectory generation module 202 is used to perform a traversal query in the historical driving data based on the current position, obtain the historical driving trajectory from the current position to the parking position, and perform trajectory backtracking on the historical driving trajectory to generate a reversing path;

[0087] The reversing control module 203 is used to control the target vehicle to reverse along the reversing path until it reaches the parking position.

[0088] In one embodiment, the loop coverage is performed with the current position as the end point to obtain historical driving data within a preset distance, specifically including: in response to a tracking and reversing instruction issued by a user, calling a positioning device and a sensor device to obtain the initial position of the target vehicle; obtaining road information in a high-precision map, matching the initial position with the road information, and obtaining the current position of the target vehicle; loop coverage is performed with the current position as the center of the circle and the preset distance as the loop coverage radius to obtain historical driving data of the target vehicle.

[0089] In one embodiment, the tracking reversing control device also includes recording the driving data of the target vehicle based on the sensor equipment when the target vehicle is in a driving state, specifically: when the target vehicle is in a driving state, the driving data of the target vehicle is continuously collected based on the high-precision sensor equipment; wherein the driving data includes driving environment data and driving trajectory data; the driving environment data includes road marking information, obstacle information, road boundary information and traffic signal information; the driving trajectory data includes vehicle speed and steering angle.

[0090] In one embodiment, the traversal query is performed in the historical driving data based on the current position to obtain the historical driving trajectory from the current position to the parking position, and the historical driving trajectory is traced back to generate a reversing path, which specifically includes: obtaining the historical driving data within a preset time length, and traversing the historical driving number; performing an analysis operation on the historical driving data, and obtaining the first historical driving trajectory with the shortest distance from the current position to the parking position according to the analysis operation result; wherein the analysis operation is to identify turning points and acceleration points; and the first historical driving trajectory is traced back to generate the reversing path.

[0091] In one embodiment, the controlling the target vehicle to perform tracking and reversing along the reversing path until reaching the parking position specifically includes: collecting real-time driving environment data of the target vehicle, and executing a preset path adjustment strategy according to the type of information contained in the real-time driving environment data; wherein the path adjustment strategy includes an obstacle avoidance path adjustment strategy and a driving path adjustment strategy; the obstacle avoidance path adjustment strategy is to calculate an obstacle avoidance path according to the obstacle information so that the target vehicle can bypass the obstacle according to the obstacle avoidance path; the driving path adjustment strategy is to control the target vehicle according to the road marking information and the road boundary information so that the target vehicle can travel within the lane line along the reversing path.

[0092] In one embodiment, the controlling the target vehicle to reverse along the reversing path until reaching the parking position also includes: real-time detection of the driving trajectory of the target vehicle, and when the deviation between the driving trajectory and the reversing path reaches a preset deviation threshold, generating an offset adjustment instruction based on a path planning algorithm and controlling the target vehicle based on the offset adjustment instruction until the driving trajectory of the target vehicle is consistent with the reversing path.

[0093] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0094] The embodiment of the present invention provides a tracking and reversing control device, which uses the current position as the starting point and reversely searches for the historical driving trajectory of the vehicle. No matter where the vehicle is currently located, the path planning can be based on the current position. By traversing the historical data, the previous driving path and parking position of the vehicle can be accurately found, the accuracy of tracking and reversing can be improved, and the versatility of the tracking and reversing function can be enhanced. By generating a reversing path by reversing the historical driving trajectory, it can be ensured that the reversing path is consistent with the original driving path, thereby improving the success rate of tracking and reversing. By backtracking the actual driving trajectory, a safer and smoother reversing path can be generated, reducing errors in path planning.

[0095] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A tracking reverse control method, characterized in that: include: In response to the tracking and reversing command issued by the user, the current position of the target vehicle is obtained, and a loop is performed with the current position as the end point to obtain historical driving data within a preset distance; Performing a traversal query in the historical driving data based on the current position to obtain a historical driving trajectory from the current position to the parking position, and performing a trajectory backtracking on the historical driving trajectory to generate a reversing path; The target vehicle is controlled to perform tracking reverse along the reverse path until it reaches the parking position.

2. A tracking reverse control method as claimed in claim 1, characterized in that: The looping and covering with the current position as the end point to obtain the historical driving data within a preset distance specifically includes: In response to a tracking and reversing instruction issued by a user, a positioning device and a sensor device are called to obtain an initial position of the target vehicle; Acquire road information in a high-precision map, match the initial position with the road information, and obtain the current position of the target vehicle; Taking the current position as the center of the circle and the preset distance as the circular coverage radius, circular coverage is performed to obtain the historical driving data of the target vehicle.

3. A tracking reverse control method as claimed in claim 1, characterized in that: The tracking reverse control method further includes recording the driving data of the target vehicle based on the sensor device when the target vehicle is in a driving state, specifically: When the target vehicle is in a driving state, the driving data of the target vehicle is continuously collected based on a high-precision sensor device; wherein the driving data includes driving environment data and driving trajectory data; The driving environment data includes road marking information, obstacle information, road boundary information and traffic signal information; The driving trajectory data includes vehicle speed and steering angle.

4. The tracking reverse control method according to claim 1, characterized in that: The traversal query in the historical driving data based on the current position, obtaining the historical driving trajectory from the current position to the parking position, and backtracking the historical driving trajectory to generate a reversing path specifically includes: Acquire the historical driving data within a preset time length, and perform a traversal query on the historical driving data; Performing an analysis operation on the historical driving data, and obtaining a first historical driving trajectory with the shortest distance from the current position to the parking position according to the analysis operation result; wherein the analysis operation is identifying a turning point and an acceleration point; The first historical driving trajectory is backtracked to generate the reversing path.

5. A tracking reverse control method as claimed in claim 3, characterized in that: The controlling the target vehicle to reverse along the reversing path until reaching the parking position specifically includes: Collecting real-time driving environment data of the target vehicle, and executing a preset path adjustment strategy according to the type of information contained in the real-time driving environment data; wherein the path adjustment strategy includes an obstacle avoidance path adjustment strategy and a driving path adjustment strategy; The obstacle avoidance path adjustment strategy is to calculate an obstacle avoidance path according to the obstacle information so that the target vehicle can bypass the obstacle according to the obstacle avoidance path; The driving path adjustment strategy is to control the target vehicle according to the road marking information and the road boundary information so that the target vehicle drives within the lane line along the reversing path.

6. A tracking reverse control method as claimed in claim 5, characterized in that: The controlling the target vehicle to reverse along the reversing path until reaching the parking position further includes: The driving trajectory of the target vehicle is detected in real time. When the deviation between the driving trajectory and the reversing path reaches a preset deviation threshold, an offset adjustment instruction is generated based on a path planning algorithm and the target vehicle is controlled based on the offset adjustment instruction until the driving trajectory of the target vehicle is consistent with the reversing path.

7. A tracking reverse control device, characterized in that: include: Data acquisition module, trajectory generation module and reversing control module; The data acquisition module is used to respond to the tracking and reversing instruction issued by the user, obtain the current position of the target vehicle, perform cyclic coverage with the current position as the end point, and obtain historical driving data within a preset distance; The trajectory generation module is used to perform a traversal query in the historical driving data based on the current position, obtain the historical driving trajectory from the current position to the parking position, and perform trajectory backtracking on the historical driving trajectory to generate a reversing path; The reversing control module is used to control the target vehicle to reverse along the reversing path until it reaches the parking position.

8. A tracking reverse control device as claimed in claim 7, characterized in that: The looping and covering with the current position as the end point to obtain the historical driving data within a preset distance specifically includes: In response to a tracking and reversing instruction issued by a user, a positioning device and a sensor device are called to obtain an initial position of the target vehicle; Acquire road information in a high-precision map, match the initial position with the road information, and obtain the current position of the target vehicle; Taking the current position as the center of the circle and the preset distance as the circular coverage radius, circular coverage is performed to obtain the historical driving data of the target vehicle.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the tracking reversing control method as described in any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the tracking reversing control method as described in any one of claims 1 to 6.

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