Vehicle reversing control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle reversing control method and device, electronic equipment and a storage medium, and the method comprises the steps: responding to a reversing instruction, generating a virtual image based on the environment right behind a vehicle, and projecting the virtual image to the front of an operation object, so as to collect the operation object based on the virtual image, a steering wheel rotation angle obtained by rotating the steering wheel; determining a wheel rotation angle of the vehicle based on the electric signal corresponding to the steering wheel rotation angle; wherein the rotating direction of the wheels is opposite to that of the steering wheel; controlling the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle. In the backing scene, the virtual image generated based on the environment right behind the vehicle is projected to the front of the operation object to simulate the view image of forward driving for the operation object, and the rotation direction of the vehicle wheels is set to be opposite to the rotation direction of the steering wheel. Therefore, the operation object operates the vehicle to reverse according to the forward driving habit, and the reversing safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a control method, device, electronic device and storage medium for vehicle reverse driving. Background Art

[0002] With the development of vehicle technology, reverse assist systems have become an important configuration for modern vehicles. The mainstream reverse assist technology is usually reverse imaging technology, which captures the environment behind the vehicle through a camera and displays it on the central control display screen of the vehicle to help the driver judge the position of obstacles.

[0003] However, the reverse image is generally obtained by mirror processing the image captured by the rear camera of the vehicle. During reverse driving, the driver needs to operate in combination with the rearview mirror and the reverse image. Novice or some unskilled drivers are prone to missteering the steering wheel, resulting in safety accidents. Summary of the Invention

[0004] In view of the above problems, the present application provides a control method, device, electronic device and storage medium for vehicle reverse driving, which are used to solve the problem of relatively low reverse driving safety in the prior art.

[0005] According to one aspect of the present application, a control method for vehicle reverse driving is provided. The method includes: in response to a reverse driving instruction, generating a virtual image based on the environment directly behind the vehicle, and projecting the virtual image in front of the operation object to collect the steering wheel rotation angle obtained by the operation object rotating the steering wheel based on the virtual image; determining the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle; wherein the wheel rotation direction is opposite to the rotation direction of the steering wheel; controlling the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle.

[0006] In an optional manner, the generating a virtual image based on the environment directly behind the vehicle includes: collecting an initial image of the environment directly behind the vehicle, and adjusting the initial image based on the image center point of the initial image and the visual field center point of the operation object to obtain a target image; generating the virtual image based on the target image, the distance information between the vehicle and the obstacle in the target image, and the predicted direction trajectory of reverse driving.

[0007] In an alternative manner, adjusting the initial image based on the image center point in the initial image and the field of view center point of the operating object to obtain a target image includes: calculating a transformation matrix corresponding to the initial image based on the coordinates of the image center point, the coordinates of the field of view center point, and the respective sizes of the initial image and the virtual projection interface; determining the target coordinates corresponding to each pixel point based on the product of the initial coordinates of each pixel point in the initial image and the transformation matrix to obtain the target image.

[0008] In an alternative manner, the method further includes: determining distance information between the vehicle and the obstacle based on the size of the vehicle and the size of the obstacle; determining a predicted direction trajectory for reversing based on the wheel angle of the vehicle; wherein, if any parameter in the distance information and the predicted direction trajectory changes, the virtual image is updated.

[0009] In an alternative manner, the virtual image includes an environment sub-image and a predicted direction trajectory sub-image; projecting the virtual image in front of the operating object includes: projecting the environment sub-image and the predicted direction trajectory sub-image onto a first area and a second area in the virtual projection interface, respectively.

[0010] In an alternative manner, the method further includes: determining a target area to which the fixation point position of the operating object belongs; the target area is any one of the first area and the second area; specially displaying the sub-image in the target area, including highlighting, magnifying display, or dynamic prompting.

[0011] In an alternative manner, determining the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle includes: determining the magnitude of the steering wheel rotation angle according to the electrical signal, and calculating the wheel rotation angle of the vehicle based on the product of the opposite number of the magnitude of the steering wheel rotation angle and a preset steering ratio; wherein, the preset steering ratio is the ratio of the magnitude of the steering wheel rotation angle to the magnitude of the wheel rotation angle.

[0012] According to another aspect of the embodiments of the present application, a control device for vehicle reverse is provided. The control device includes: a projection module, configured to generate a virtual image based on the environment directly behind the vehicle in response to a reverse instruction, and project the virtual image in front of an operating object to collect the steering wheel rotation angle obtained by the operating object rotating the steering wheel based on the virtual image; an analysis module, configured to determine the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle, wherein the wheel rotation direction is opposite to the steering wheel rotation direction; and a control module, configured to control the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle.

[0013] According to one aspect of the present application, an electronic device is provided, including: a controller; a memory for storing one or more programs, which, when executed by the controller, are configured to execute the above control method.

[0014] According to one aspect of the present application, a storage medium is further provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the above control method.

[0015] According to one aspect of the present application, a computer program product or a computer program is further provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above control method.

[0016] In the reverse scenario of the present application, by projecting the virtual image generated based on the environment directly behind the vehicle in front of the operating object, the operating object can directly observe the rear environment without switching the perspective when reversing, and quickly determine the steering wheel rotation angle, reducing distraction of attention and improving the reaction speed of the operating object during the reverse process. The present application displays the virtual image in front of the operating object to simulate the visual picture of the vehicle driving forward in the reverse scenario, and sets the wheel rotation direction of the vehicle to be opposite to the steering wheel rotation direction, so that the operating object can rotate the steering wheel according to the logic of forward driving based on the virtual image in front, and thus control the vehicle to reverse, achieving the purpose of operating the vehicle to reverse with the forward driving habit. Since most operating objects are familiar with the forward driving habit, adopting the technical solution provided by the present application to operate the vehicle to reverse with the forward driving habit can effectively improve the reverse safety.

[0017] The above description is only an overview of the technical solution of the embodiments of the present application. In order to understand the technical means of the embodiments of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the embodiments of the present application more obvious and understandable, the following specifically illustrates the specific implementation manners of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic flowchart of a method for controlling a vehicle to reverse shown in an exemplary embodiment of the present application.

[0020] Figure 2 It is a schematic flowchart of a method for generating a virtual image shown in an exemplary embodiment of the present application.

[0021] Figure 3 It is a schematic flowchart of a method for image adjustment shown in an exemplary embodiment of the present application.

[0022] Figure 4 It is a flowchart of another method for controlling a vehicle to reverse shown in an exemplary embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of an application scenario of the method for controlling a vehicle to reverse in the present application.

[0024] Figure 6 It is a schematic structural diagram of a control device for a vehicle to reverse shown in an exemplary embodiment of the present application.

[0025] Figure 7 It is a schematic structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0027] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0028] The flowcharts shown in the drawings are only exemplary illustrations, and do not necessarily include all contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0029] In this application, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects.

[0030] Traditional reverse images are generally obtained by mirror processing the images captured by the rear camera of the vehicle. During the reverse process, the driver needs to operate in combination with the rearview mirror and the reverse image. Novice or some unskilled drivers are prone to missteering the steering wheel, resulting in safety accidents.

[0031] For this reason, one aspect of this application provides a control method for vehicle reverse. Specifically, please refer to Figure 1 , Figure 1 is a schematic flowchart of a control method for vehicle reverse shown in an exemplary embodiment of this application. This method at least includes S110 to S130, which are introduced in detail as follows:

[0032] S110: In response to a reverse instruction, generate a virtual image based on the environment directly behind the vehicle, and project the virtual image in front of the operation object to collect the steering wheel rotation angle obtained by the operation object rotating the steering wheel based on the virtual image.

[0033] In this application, the operation object is the driver of the vehicle. In the reverse scenario, the reverse instruction is actively triggered by the operation object or automatically by the vehicle, the vehicle enters the reverse mode, and the environment perception device arranged at the rear of the vehicle and the projection device in the vehicle are initialized and complete self-checking.

[0034] Among them, the environment perception device can be one or more cameras installed at the rear of the vehicle, or lidar, ultrasonic radar or millimeter wave radar. This application does not limit this. The projection device is the HUD (Head-Up Display) on the vehicle's front windshield.

[0035] After the control environment perception device generates a virtual image based on the environment directly behind the vehicle, it controls the projection device to project the virtual image onto the HUD on the vehicle's front windshield, so that the operator can directly observe the environment directly behind the vehicle through the vehicle's front windshield, and then operate the steering wheel. Among them, the virtual image is the image of the environment directly behind the vehicle without mirror processing, and it is directly displayed in front of the operator, so as to simulate the visual picture of driving forward behind the vehicle in the reverse scenario.

[0036] At the same time, when projecting the virtual image in front of the operator, prompt information can be output through voice or text: "Please refer to the virtual image and operate the vehicle according to the driving habits of forward driving", so as to improve the safety of reversing.

[0037] Exemplarily, on the left side of the virtual image display screen is the drivable road surface, and there is an obstacle on the right side of the screen. In order to avoid the obstacle on the right side, the operator will turn the steering wheel to the left, that is, turn the steering wheel counterclockwise, to avoid the obstacle according to the forward driving habit.

[0038] S120: Determine the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle.

[0039] Among them, the wheel rotation direction is opposite to the steering wheel rotation direction.

[0040] In this application, the steering wheel rotation angle is converted into an electrical signal, and the electrical signal is reversely analyzed to output the wheel rotation angle of the vehicle.

[0041] Exemplarily, if the steering wheel rotation angle is in the counterclockwise direction, the wheel rotation angle is in the clockwise direction.

[0042] S130: Control the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle.

[0043] After determining the wheel rotation angle, control the driving direction of the vehicle according to the wheel rotation angle, and determine the driving distance of the vehicle according to the speed of the vehicle, so as to control the vehicle to reverse.

[0044] Among them, the wheel rotation angle represents the rotation angle of the vehicle's drive wheels, which can be the two front wheels of the vehicle or the two rear wheels of the vehicle, or the four wheels of the vehicle, depending on the drive mode of the vehicle, and this application does not limit this.

[0045] In this embodiment, in a reverse driving scenario, by projecting a virtual image generated based on the environment directly behind the vehicle onto the front of the operating object, the operating object can directly observe the rear environment without switching the viewing angle during reverse driving, and can quickly determine the steering wheel rotation angle, reducing distraction of attention and improving the reaction speed of the operating object during reverse driving. This application displays the virtual image in front of the operating object to simulate the visual image of the vehicle driving forward directly behind in the reverse driving scenario, and sets the rotation direction of the vehicle wheels to be opposite to the rotation direction of the steering wheel, so that the operating object can control the vehicle to reverse by turning the steering wheel according to the logic of forward driving based on the virtual image in the front, achieving the purpose of operating the vehicle in reverse with the forward driving habit. Since most operating objects are familiar with the forward driving habit, adopting the technical solution provided by this application to operate the vehicle in reverse with the forward driving habit can effectively improve the reverse driving safety.

[0046] In another exemplary embodiment of this application, how to generate a virtual image based on the environment directly behind the vehicle is introduced in detail. For details, please refer to Figure 2 , Figure 2 which is a schematic flowchart of the virtual image generation method shown in an exemplary embodiment of this application. It at least includes S210 to S220, which are introduced in detail as follows:

[0047] S210: Collect the initial image of the environment directly behind the vehicle, and adjust the initial image based on the image center point of the initial image and the visual field center point of the operating object to obtain a target image.

[0048] In this application, there is a certain error between the viewing angle of the environmental perception device at the rear of the vehicle for collecting images and the viewing angle of the operating object looking outside through the front windshield. In order to make the generated virtual image more conform to the viewing field of the operating object, it is necessary to adjust the initial image of the environment directly behind the vehicle.

[0049] Exemplarily, assume that a camera is installed in the exact middle of the rear of the vehicle to collect the environment directly behind the vehicle, then the shooting focus of the camera is the exact middle of the rear of the vehicle. When the operating object is the driver, since the driver is located in the front left / right seat of the vehicle, the visual field focus is biased left / right relative to the entire front windshield, resulting in a deviation between the image center point of the initial image and the visual field center point of the operating object.

[0050] In order to make the virtual image more conform to the driver's viewing angle when projected in front of the operating object, the initial image should be adjusted according to the image center point of the initial image and the visual field center point of the operating object, so as to obtain a target image that more conforms to the driver's viewing angle.

[0051] Among them, the adjustment method for the initial image can be linear transformations such as image translation and cropping, or non-linear transformations such as perspective transformation. This application does not limit this.

[0052] In some optional embodiments, if the environmental perception devices at the rear of the vehicle are multiple cameras, the initial image can be obtained by stitching the images collected by the multiple cameras. If the environmental perception devices at the rear of the vehicle are sensors such as lidar, a two-dimensional image can be constructed based on the point cloud data collected by the sensors to obtain the initial image. This application does not limit this.

[0053] S220: Generate a virtual image based on the target image, the distance information between the vehicle and the obstacle in the target image, and the predicted direction trajectory of reversing.

[0054] Identify the obstacles in the target image, including static obstacles and dynamic obstacles, calculate the distance information between the vehicle and different obstacles, and at the same time generate the predicted direction trajectory of reversing. Combine the target image, the distance information between the vehicle and the obstacle, and the predicted direction trajectory of reversing to jointly generate a virtual image.

[0055] This embodiment provides a method for generating a virtual image. By adjusting the initial image through the image center point of the initial image and the field of view center point of the operation object, the generated virtual image conforms to the observation perspective of the operation object, simulating a real visual scene. Moreover, according to the target image, the distance information between the vehicle and the obstacle, and the predicted direction trajectory of reversing, a virtual image is jointly generated, which can provide more auxiliary information about the environment directly behind the vehicle for the operation object, thereby improving the safety of reversing.

[0056] In another exemplary embodiment of this application, how to adjust the initial image to obtain the target image is introduced in detail. For specific details, please refer to Figure 3 , Figure 3 is a schematic flowchart of an image adjustment method shown in an exemplary embodiment of this application. It includes at least S310 to S320, which are introduced in detail as follows:

[0057] S310: Calculate the transformation matrix corresponding to the initial image based on the coordinates of the image center point, the coordinates of the field of view center point, and the respective sizes of the initial image and the virtual projection interface.

[0058] Exemplarily, both the initial image and the virtual projection interface are rectangles, and their respective sizes include height and width. According to the coordinates of the image center point and the height and width of the initial image, the coordinates of the four corner endpoints corresponding to the initial image can be obtained; similarly, according to the coordinates of the field of view center point and the height and width of the virtual projection interface, the coordinates of the four corner endpoints corresponding to the target image can be obtained.

[0059] Taking the four corner endpoints of the initial image as source points and the corresponding four corner endpoints of the target image as target points, a transformation matrix corresponding to the initial image is calculated based on the coordinates of the four source points and the four target points, and its calculation formula is:

[0060]

[0061] where H is the transformation matrix, x i is the first-dimensional coordinate of the i-th source point, and y i is the second-dimensional coordinate of the i-th source point; X i is the first-dimensional coordinate of the i-th target point, and Y i is the second-dimensional coordinate of the i-th target point.

[0062] (x i , y i , 1) is the homogeneous coordinate after expanding the two-dimensional coordinate point (x i , y i ) for matrix operations. The last component of the homogeneous coordinate after expanding the two-dimensional coordinate point is usually 1, indicating that the corresponding pixel point is a finite point rather than an infinite point. (X i , Y i , 1) is the homogeneous coordinate after the initial coordinates of each pixel point in the initial image are operated by the transformation matrix H. Its last component 1 represents the scaling factor, which is used to normalize (X i , Y i ). In some embodiments, the scaling factor can be other constant values.

[0063] S320: Based on the product of the initial coordinates of each pixel point in the initial image and the transformation matrix, determine the target coordinates corresponding to each pixel point to obtain the target image.

[0064] In this application, the transformation matrix is applied to each pixel point of the initial image, that is, the initial coordinates of each pixel point in the initial image are multiplied by the transformation matrix H to obtain the target coordinates corresponding to each pixel point, thereby obtaining the transformed target image.

[0065] This embodiment provides a way to adjust the initial image. By adjusting the initial image to obtain the target image, the perspective effect of the image is changed, thereby adjusting the image view angle, and realizing the adjustment of the initial image to a layout closer to the view angle of the operating object, improving the realism and experience.

[0066] In another exemplary embodiment of this application, how to calculate the distance information between the vehicle and the obstacle and the predicted direction trajectory of reversing is introduced in detail. For details, please refer to Figure 4 , Figure 4It is a flowchart of another vehicle reverse control method shown in an exemplary embodiment of the present application. It includes at least S410 to S420, which are introduced in detail as follows:

[0067] S410: Based on the size of the vehicle and the size of the obstacle, determine the distance information between the vehicle and the obstacle.

[0068] In this application, the size of the vehicle includes length, width, and height, and the size of the obstacle also includes length, width, and height.

[0069] Exemplarily, calculate the position of the obstacle relative to the vehicle through sensor data such as radar or camera, and at the same time map the positions of the vehicle and the obstacle to a unified coordinate system, usually with the vehicle as the coordinate center. According to the coordinates of the vehicle and the obstacle in the same coordinate system, calculate the macroscopic distance between the vehicle and the obstacle, and correct the macroscopic distance according to the sizes of the vehicle and the obstacle to calculate the microscopic distance between the edge of the vehicle and the edge of the obstacle.

[0070] Optionally, the microscopic distance can be saved as the final distance information to improve driving safety, or both the macroscopic distance and the microscopic distance can be saved as the final distance information to enable the operator to switch the control precision of the vehicle speed at any time in long-distance and short-distance scenarios. This application does not limit this.

[0071] S420: Based on the wheel angle of the vehicle, determine the predicted direction trajectory of reversing.

[0072] In this application, according to the wheel angle of the vehicle, determine the predicted direction trajectory of reversing and generate a virtual trajectory line.

[0073] Among them, if any parameter in the distance information and the predicted direction trajectory changes, the virtual image is updated.

[0074] Exemplarily, according to the real-time data of the sensor, determine whether the obstacle is static or dynamic. For a static obstacle, its distance information remains unchanged; for a dynamic obstacle, calculate the movement speed and movement direction of the obstacle according to the sensor data to obtain new distance information for updating the virtual image.

[0075] If the wheel angle changes, the virtual trajectory line corresponding to the predicted direction trajectory will also change. Therefore, the virtual image needs to be updated according to the new predicted direction trajectory.

[0076] This embodiment introduces another vehicle reverse control method. By determining the distance information between the vehicle and the obstacle based on the size of the vehicle and the size of the obstacle, the accuracy of distance estimation can be improved, and by determining the predicted direction trajectory of reversing based on the wheel angle of the vehicle, the control of the vehicle by the operator can be visually predicted, improving driving safety.

[0077] In an optional embodiment, the virtual image includes an environment sub-image and a predicted direction trajectory sub-image. Therefore, in another exemplary embodiment of the present application, a virtual image projection method is provided, specifically comprising: projecting the environment sub-image and the predicted direction trajectory sub-image to a first area and a second area in a virtual projection interface, respectively.

[0078] Exemplarily, the environment sub-image is projected onto the central area of ​​the vehicle's front windshield (i.e., the first area) through the HUD to display the overall scene of the environment directly behind the vehicle, including obstacle information, so that the operating object can better observe the obstacle position and distance information; the predicted direction trajectory sub-image is projected onto the area directly below the vehicle's front windshield (i.e., the second area) to display the predicted direction trajectory of reversing, and may be accompanied by steering wheel turning prompt information.

[0079] The above division of the first area and the second area is only an example. In some embodiments, in order to enable the operating object to better observe the driving trajectory of the vehicle in the environment, the first area and the second area can overlap and be distinguished by different transparencies. In addition, in actual applications, multiple partition projection methods can be used, or no partition projection of the virtual image can be performed, and this application does not limit this.

[0080] This embodiment introduces a method for projecting a virtual image, which divides the virtual image into multiple sub-images and projects them in different areas, thereby distinguishing and displaying information of different importance levels based on the observation habits familiar to most operating objects.

[0081] In another exemplary embodiment of the present application, the virtual image projection method further includes: determining a target area to which the gaze point position of the operating object belongs; and specially displaying the sub-image in the target area, including highlighting, enlarging or dynamic prompting.

[0082] The target area is any one of the first area and the second area.

[0083] For example, the gaze point of the driver's eyes is detected by eye tracking technology, and the gaze point position and the target area to which it belongs are determined. For example, the target area is determined to be the first area according to the gaze point position, and its corresponding sub-image is the environment sub-image, then the environment sub-image in the first area is highlighted to improve the visual experience.

[0084] This embodiment tracks the gaze point position of the operating object, thereby realizing special display of the projection area that the operating object is watching, realizing intelligent human-computer interaction, and improving the viewing experience of virtual projection.

[0085] In another exemplary embodiment of the present application, based on the above Figure 1 shown method, it is described how to determine the wheel rotation angle of a vehicle. This method further includes in S120 as shown in Figure 1 : According to the electrical signal, determine the magnitude of the steering wheel rotation angle, and based on the product of the opposite number of the magnitude of the steering wheel rotation angle and the preset steering ratio, calculate the wheel rotation angle of the vehicle.

[0086] Among them, the preset steering ratio is the ratio of the magnitude of the steering wheel rotation angle to the magnitude of the wheel rotation angle. The electrical signal at least includes the direction, angle magnitude, and force of the steering wheel rotation.

[0087] Exemplarily, the wheel rotation angle is calculated according to the formula θ wheel =-θ steering ×K(v), where θ wheel is the magnitude of the wheel rotation angle, θ steering is the magnitude of the steering wheel rotation angle, and K(v) is the preset steering ratio related to the speed of the vehicle.

[0088] In practical applications, vehicles usually adopt a segmented steering ratio. For example, if the speed of the vehicle is in the low-speed range (such as 0 to 40 km / h), the preset steering ratio is relatively small (for example, 14:1). At this time, a relatively small rotation of the steering wheel can achieve a relatively large wheel steering, so as to improve the flexibility of the vehicle; if the speed of the vehicle is in the high-speed range (such as above 80 km / h), the preset steering ratio is relatively large (for example, 18:1). At this time, a relatively large rotation of the steering wheel is required to achieve a relatively small wheel steering, so as to improve the stability of the vehicle; if the speed of the vehicle is in the medium-speed range (such as 40 to 80 km / h), the preset steering ratio is between the steering ratio corresponding to the low-speed range and the steering ratio corresponding to the high-speed range, so as to achieve a smooth transition of the steering ratio while the vehicle speed changes.

[0089] This embodiment introduces how to calculate the vehicle rotation angle according to the steering wheel rotation angle. By taking the opposite of the magnitude of the steering wheel rotation angle and multiplying it by the preset steering ratio, the wheel rotation angle is obtained, so as to achieve the effect that the wheel rotation direction is opposite to the steering wheel rotation direction. And, the magnitude of the wheel rotation angle and the steering wheel rotation angle are controlled according to the preset steering ratio to improve the stability and safety of vehicle control.

[0090] In another exemplary embodiment of the present application, an exemplary description is given of the application scenarios of the above-mentioned control methods for multiple vehicle reverse driving. For details, please refer to Figure 5 , Figure 5 which is a schematic diagram of the application scenario of the control method for vehicle reverse driving in the present application. Among them, it includes vehicle 100, controller 200, and operation object 300.

[0091] The controller 200, as the executing entity, receives the reverse driving instruction triggered by the operation object 300 and executes the vehicle reverse driving control method shown in the above exemplary embodiment, as well as the virtual image generation method and image adjustment method belonging to the control method. The following is an exemplary description:

[0092] The operation object 300 triggers a reverse driving instruction for the vehicle 100 through a voice control method or a preset button on the vehicle 100. In response to the reverse driving instruction, the controller 200 controls the camera provided on the vehicle 100 to generate a virtual image based on the environment directly behind the vehicle 100. The controller 200 projects the virtual image in front of the operation object 300. The operation object 100 observes the virtual image and turns the steering wheel. The controller 200 collects the steering wheel rotation angle obtained by the operation object 300 turning the steering wheel based on the virtual image; the controller 200 determines the wheel rotation angle of the vehicle 100 based on the electrical signal corresponding to the steering wheel rotation angle; wherein, the wheel rotation direction is opposite to the steering wheel rotation direction; the controller 200 controls the vehicle 100 to reverse according to the wheel rotation angle and the speed of the vehicle 100.

[0093] Among them, the controller 200 can be the central controller of the vehicle 100 or other sub-controllers affiliated with or associated with the central controller. This application does not make any restrictions on this.

[0094] On the other hand, this application also provides a control device for vehicle reverse driving, as Figure 6 shown Figure 6 is a schematic structural diagram of a control device for vehicle reverse driving shown in an exemplary embodiment of this application. The control device 600 includes:

[0095] A projection module 610, configured to generate a virtual image based on the environment directly behind the vehicle in response to a reverse driving instruction, and project the virtual image in front of the operation object, so as to collect the steering wheel rotation angle obtained by the operation object turning the steering wheel based on the virtual image;

[0096] An analysis module 620, configured to determine the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle; wherein, the wheel rotation direction is opposite to the steering wheel rotation direction;

[0097] A control module 630, configured to control the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle.

[0098] In an optional manner, the projection module 610 further includes:

[0099] An acquisition unit, configured to acquire an initial image of the environment directly behind the vehicle, and adjust the initial image based on the image center point of the initial image and the visual field center point of the operation object to obtain a target image;

[0100] A generating unit, configured to generate a virtual image based on a target image, distance information between the vehicle and an obstacle in the target image, and a predicted direction trajectory of reversing.

[0101] In an optional manner, the acquisition unit further includes:

[0102] A calculation subunit, configured to calculate a transformation matrix corresponding to the initial image based on coordinates of the center point of the image, coordinates of the center point of the field of view, and sizes of the initial image and the virtual projection interface respectively;

[0103] A transformation subunit, configured to determine target coordinates corresponding to each pixel point based on the product of the initial coordinates of each pixel point in the initial image and the transformation matrix, so as to obtain a target image.

[0104] In an optional manner, the control device 600 further includes:

[0105] A determination module, configured to determine distance information between the vehicle and the obstacle based on the size of the vehicle and the size of the obstacle; determine a predicted direction trajectory of reversing based on the wheel angle of the vehicle; wherein, if any parameter in the distance information and the predicted direction trajectory changes, the virtual image is updated.

[0106] In an optional manner, the projection module 610 further includes:

[0107] A partitioning unit, configured to project the environmental sub-image and the predicted direction trajectory sub-image onto a first area and a second area in the virtual projection interface respectively.

[0108] In an optional manner, the control device 600 further includes:

[0109] A tracking module, configured to determine a target area to which the gaze point position of the operation object belongs; the target area is any one of the first area and the second area; perform special display on the sub-image in the target area, including highlighting display, magnifying display or dynamic prompt.

[0110] In an optional manner, the parsing module 620 further includes:

[0111] A parsing calculation unit, configured to determine the magnitude of the steering wheel rotation angle according to an electrical signal, and calculate the wheel rotation angle of the vehicle based on the product of the opposite number of the magnitude of the steering wheel rotation angle and a preset steering ratio; wherein the preset steering ratio is the ratio of the magnitude of the steering wheel rotation angle to the magnitude of the wheel rotation angle.

[0112] It should be noted that the vehicle reversing control device provided in the above embodiments and the vehicle reversing control method provided in the foregoing embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments, and will not be elaborated here.

[0113] Another aspect of the present application also provides an electronic device, including: a controller; a memory for storing one or more programs, which when executed by the controller, are configured to execute the above control method.

[0114] Please refer to Figure 7 , Figure 7 , which is a schematic structural diagram of a computer system of the electronic device shown in an exemplary embodiment of the present application, showing a schematic structural diagram of a computer system of the electronic device suitable for implementing the embodiments of the present application.

[0115] It should be noted that Figure 7 the computer system 700 of the electronic device shown is only an example, and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0116] As Figure 7 shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703, such as executing the method in the above embodiments. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0117] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that the computer program read from it can be installed into the storage section 708 as needed.

[0118] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0119] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program included on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0120] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0121] The units involved in the embodiments described in the present application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0122] Another aspect of the present application also provides a storage medium, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by a processor of a computer, the control method as described above is implemented. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist alone without being assembled into the electronic device.

[0123] Another aspect of the present application also provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control methods provided in the above various embodiments.

[0124] According to one aspect of an embodiment of the present application, there is also provided a computer system, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage section into a Random Access Memory (RAM), such as executing the method in the above embodiment. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An Input / Output (I / O) interface is also connected to the bus.

[0125] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as required. A removable medium, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive as required so that a computer program read from it can be installed into the storage section as required.

[0126] The above content is only a preferred exemplary embodiment of the present application and is not used to limit the implementation of the present application. Those of ordinary skill in the art can easily make corresponding adaptations or modifications according to the main concept and spirit of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope required by the claims.

Claims

1. A method for controlling vehicle reversing, characterized in that: The method comprises: In response to a reverse instruction, a virtual image is generated based on the environment directly behind the vehicle, and the virtual image is projected directly in front of the operating object to collect the steering wheel rotation angle obtained by the operating object turning the steering wheel based on the virtual image; Determining the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle; wherein the wheel rotation direction is opposite to the steering wheel rotation direction; The vehicle is controlled to reverse according to the wheel rotation angle and the speed of the vehicle.

2. The method according to claim 1, characterized in that The generating of a virtual image based on the environment directly behind the vehicle includes: Acquire an initial image of the environment directly behind the vehicle, and adjust the initial image based on an image center point of the initial image and a visual field center point of the operation object to obtain a target image; The virtual image is generated based on the target image, the distance information between the vehicle and the obstacle in the target image, and the predicted direction trajectory of the reverse vehicle.

3. The method according to claim 2, characterized in that The adjusting the initial image based on the image center point in the initial image and the field of view center point of the operation object to obtain the target image includes: Calculate the transformation matrix corresponding to the initial image based on the coordinates of the center point of the image, the coordinates of the center point of the field of view, and the sizes corresponding to the initial image and the virtual projection interface; Based on the product of the initial coordinates of each pixel point in the initial image and the transformation matrix, the target coordinates corresponding to each pixel point are determined to obtain the target image.

4. The method according to claim 2, characterized in that The method further comprises: Determining distance information between the vehicle and the obstacle based on the size of the vehicle and the size of the obstacle; Based on the wheel angle of the vehicle, a predicted direction trajectory of reversing is determined; wherein, if any parameter of the distance information and the predicted direction trajectory changes, the virtual image is updated.

5. The method according to claim 1, characterized in that The virtual image includes an environment sub-image and a predicted direction trajectory sub-image; and projecting the virtual image to the front of the operation object includes: The environment sub-image and the predicted direction trajectory sub-image are projected onto a first area and a second area in a virtual projection interface, respectively.

6. The method according to claim 5, characterized in that The method further comprises: Determine a target area to which the gaze point position of the operation object belongs; the target area is any one of the first area and the second area; The sub-image in the target area is specially displayed, including highlighting, enlarging or dynamically prompting.

7. The method according to claim 1, characterized in that The step of determining the wheel rotation angle of the vehicle based on the electrical signal corresponding to the steering wheel rotation angle comprises: The steering wheel rotation angle is determined according to the electrical signal, and the wheel rotation angle of the vehicle is calculated based on the product of the inverse of the steering wheel rotation angle and a preset steering ratio; wherein the preset steering ratio is the ratio of the steering wheel rotation angle to the wheel rotation angle.

8. A vehicle reversing control device, characterized in that: The control device comprises: a projection module, for generating a virtual image based on the environment behind the vehicle in response to a reversing instruction, and projecting the virtual image to the front of the operating object, so as to collect a steering wheel rotation angle obtained by the operating object turning the steering wheel based on the virtual image; An analysis module, configured to determine a wheel rotation angle of the vehicle based on an electrical signal corresponding to the steering wheel rotation angle; wherein a wheel rotation direction is opposite to a steering wheel rotation direction; The control module is used to control the vehicle to reverse according to the wheel rotation angle and the speed of the vehicle.

9. An electronic device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the control method described in any one of claims 1 to 7.

10. A storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the control method according to any one of claims 1 to 7.

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