Reversing control method, system, equipment and medium

Abstract

The invention provides a reversing control method, system and device and a medium. The method comprises the steps that environment information around a vehicle, vehicle gear information and the current vehicle speed of the vehicle are obtained; determining a vehicle driving scene according to the environment information and the vehicle gear information, so as to extract a target obstacle in the environment information when the vehicle driving scene is a reversing scene and the current vehicle speed meets a preset reversing auxiliary function starting condition; and adjusting the output power of the vehicle according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle slows down along with the reduction of the first distance until the vehicle is parked at a preset position. The vehicle collision risk can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a reverse control method, system, device and medium. Background Art

[0002] With the development of social economy, as an important means of transportation, automobiles have become one of the indispensable necessities in people's daily lives. Although automobiles can provide convenience for our daily lives, they also bring various problems. For example, the pressure on road traffic increases, and public transportation places in parking lots become very crowded, which makes drivers need mature driving skills when giving way, turning around or reversing. For novice drivers, they are not good at mastering the direction angle when parking and are not good at judging the distance between obstacles and the vehicle body, so problems such as wasting time when parking and reversing or vehicle collisions will occur. At present, reverse warning mainly determines whether to give an alarm by detecting the longitudinal distance between obstacles and the vehicle itself. If an alarm is needed, an alarm sound is emitted through a buzzer during the reverse process to remind the driver that there are obstacles behind to prevent the vehicle from colliding. However, if the driver is nervous or inattentive during the reverse process and does not respond in time, the vehicle may collide with the obstacle behind, resulting in property losses and even personal injuries. Summary of the Invention

[0003] In view of the above problems existing in the prior art, the present invention proposes a reverse control method, system, device and medium, mainly solving the problem that the existing method of directly performing safety warning based on the obstacle distance still relies on manual control and there is a risk of collision.

[0004] To achieve the above and other purposes, the technical solutions adopted by the present invention are as follows.

[0005] The present application provides a reverse control method, including: obtaining environmental information around the vehicle, vehicle gear information, and the current vehicle speed; determining a vehicle driving scenario according to the environmental information and the vehicle gear information, so as to extract a target obstacle in the environmental information when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets a preset reverse assist function activation condition; adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0006] In an embodiment of the present application, the step of determining a vehicle driving scenario according to the environmental information and the vehicle gear information includes: identifying the environmental information through a preset environmental recognition model to obtain parking space information; when the vehicle gear information is in reverse gear and the environmental information contains the parking space information, determining that the vehicle is in a reverse scenario.

[0007] In an embodiment of the present application, when the vehicle driving scenario is a reverse scenario and the current vehicle speed does not meet the preset reverse assist function activation condition, the vehicle output power is adjusted to decelerate the vehicle, so that the reverse assist function remains activated.

[0008] In an embodiment of the present application, after obtaining the parking space information, it further includes: determining available parking spaces according to the parking space information, generating a parking space distribution map based on the available parking spaces and outputting it to the vehicle terminal for display; responding to the user's interaction operation to determine the target parking space in the parking space distribution map, and planning a driving route based on the target parking space, so that the vehicle drives into the target parking space.

[0009] In an embodiment of the present application, the step of extracting the target obstacle in the environmental information includes: detecting the obstacle information within a preset range of the vehicle during the process of the vehicle driving into the target parking space; taking the obstacle that is close to the target parking space and within the preset range as the target obstacle.

[0010] In an embodiment of the present application, before adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, it further includes: obtaining the user's parking distance parameter, where the parking distance parameter includes the safety distance between the vehicle and the obstacle determined according to the user's historical parking data; determining the decrease range of the vehicle output power based on the parking distance parameter and the first distance, so that the vehicle stops and remains at the position corresponding to the parking distance parameter.

[0011] In an embodiment, before obtaining the user's parking distance parameter, it further includes: obtaining the depth data of stepping on the brake pedal during each parking process of the vehicle in a preset historical time period; determining the user's braking habit data based on the depth data, so that the braking habit data of the corresponding user is called through identity recognition during the current parking process for the output power control.

[0012] The present application also provides a reverse control system, including: an information acquisition module, configured to acquire the environmental information, vehicle gear information, and current vehicle speed around the vehicle; a scenario trigger module, configured to determine the vehicle driving scenario according to the environmental information and the vehicle gear information, and extract the target obstacle in the environmental information when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition; a power control module, configured to adjust the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0013] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the reverse control method are implemented.

[0014] The present application also provides a readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the reverse control method are implemented.

[0015] As described above, a reverse control method, system, device, and medium provided by the present application have the following beneficial effects.

[0016] When the present application determines that the vehicle enters the reverse scenario and meets the reverse assist function activation condition based on the vehicle environment information and gear information, the vehicle output power is adjusted according to the distance between the obstacle and the vehicle, so that the vehicle speed becomes lower as the vehicle gets closer to the obstacle, facilitating the driver to respond in time before a collision and reducing the risk of collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flowchart of the reverse control method in an embodiment of the present application.

[0018] Figure 2 It is a module diagram of the reverse control system in an embodiment of the present application.

[0019] Figure 3 It is an internal structure schematic diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following uses specific specific examples to illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0021] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0022] Please refer to Figure 1 , Figure 1Schematic flowchart of a reverse control method in an embodiment of the present application. The reverse control method provided by the embodiment of the present application includes the following steps:

[0023] Step S100, obtain the environmental information around the vehicle, the vehicle gear information, and the current vehicle speed.

[0024] Specifically, during the vehicle driving process, various sensors on the vehicle body (such as cameras, infrared sensors, ultrasonic sensors, millimeter wave sensors, etc.) can be used to detect the environmental information around the vehicle. The environmental information may include lane images, distances from other vehicles, etc. At the same time, the vehicle-end controller can monitor the vehicle information, read information such as the gear position, vehicle speed, and acceleration during the vehicle driving process. The various types of information collected can be uniformly managed by the vehicle controller or managed by a designated domain controller, which can be specifically set and adjusted according to actual application requirements and is not limited here.

[0025] Step S110, determine the vehicle driving scenario according to the environmental information and the vehicle gear information, and when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition, extract the target obstacle in the environmental information.

[0026] In one embodiment, the step of determining the vehicle driving scenario according to the environmental information and the vehicle gear information includes: identifying the environmental information through a preset environmental recognition model to obtain the parking space information; when the vehicle gear information is in reverse gear and the environmental information contains the parking space information, determine that the vehicle is in a reverse scenario. Specifically, the preset environmental recognition model integrated in the vehicle-end controller can be used to identify the collected environmental information. Exemplarily, the lane image can be identified to determine whether the lane image contains the parking space information. The preset environmental recognition model can be pre-trained based on the lane sample image, and the model can adopt a convolutional neural network architecture or a recurrent neural network architecture, etc. The specific training process is well known to those skilled in the art and will not be elaborated here. The parking space information can be identified based on information such as the parking space boundary line in the image. When it is recognized that the environmental information contains one or more parking space information and the current vehicle gear is switched to reverse gear, at this time, the vehicle needs to reverse into the parking space or park in a side parking position. According to the gear information and the parking space information, it can be determined that the vehicle enters the reverse scenario.

[0027] When the vehicle driving scenario is a reverse scenario, further determine whether the vehicle meets the preset reverse assist function activation condition based on the current vehicle speed. The preset reverse assist function activation condition may be that the vehicle driving speed is lower than a preset speed threshold. When the speed at which the driver operates the vehicle in reverse is greater than the preset speed threshold, the vehicle output power can be automatically adjusted to reduce the vehicle speed. At the same time, the driver can be reminded of speeding through the vehicle display interface. By adjusting the vehicle output power, the current vehicle speed meets the preset reverse assist function activation condition, and the reverse assist function remains activated.

[0028] In one embodiment, after obtaining the parking space information, the following steps are further included: determining the available parking spaces based on the parking space information, generating a parking space distribution map based on the available parking spaces and outputting it to the vehicle terminal for display; responding to the user's interaction operation to determine the target parking space in the parking space distribution map, and planning a driving path based on the target parking space so that the vehicle drives into the target parking space. Specifically, it is further possible to identify whether each parking space information contains vehicle information, determine the parking spaces without vehicle information as available parking spaces for parking, and form a parking space information distribution map of all available parking spaces. Output the parking space information distribution map to the vehicle display interface for display, so that the driver or other people in the vehicle can select one of the target parking spaces for parking as needed. Of course, after determining the target parking space, the parking spaces can be screened according to the identification information in the available spaces (such as private parking spaces, etc.), and only the available parking spaces for the current vehicle owner are retained. Due to the limitation of the vehicle's environmental perception angle, some parking space information may be incomplete. Therefore, the parking space distribution map can only display partial information of the parking spaces for the driver to select. The driver clicks on the screen for interaction. In response to the driver's interaction operation, the parking space selected by the driver is used as the target parking space, and a driving path is planned based on the target parking space so that the vehicle reverses according to the planned driving path.

[0029] Since the parking space information may be blocked, the planned driving path is only used as a reference path for assisted reverse driving. During the reverse driving process, the vehicle continuously collects the surrounding environmental information, and then extracts the target obstacles in the environmental information. In one embodiment, the step of extracting the target obstacles in the environmental information includes: detecting the obstacle information within the preset range of the vehicle during the vehicle driving into the target parking space; and taking the obstacles close to the target parking space and within the preset range as the target obstacles.

[0030] In one embodiment, after extracting the target obstacle from the environmental information, it further includes: adjusting the angle of the vehicle steering wheel according to the distance from the target obstacle on the side of the vehicle, so that the distance between the vehicle and the target obstacle is maintained within a preset safety distance. Specifically, when the distance between the vehicle and the obstacle on the left side is less than the preset safety distance, the angle of the steering wheel can be adjusted to the right. The specific safety distance can be set and adjusted according to user requirements or actual production application requirements, and is not limited here. The adjustment angle of the steering wheel can be adjusted in proportion according to the size of the distance, and the specific adjustment process is not described in detail here.

[0031] Step S120, adjust the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0032] It should be noted that the target obstacle here can be another vehicle or a wall, etc. The first distance between the vehicle and the target obstacle can be detected by a millimeter-wave sensor on the vehicle body. The specific installation position of the sensor can be set and adjusted according to actual detection requirements, and is not limited here.

[0033] The adjustment range of the vehicle output power can be determined according to the first distance between the vehicle itself and the target obstacle corresponding to the vehicle tail. The vehicle output power can be adjusted in an equal-proportion decreasing manner or in a stepped manner. When the first distance is greater than a certain value, the decrease in the vehicle output power can be relatively small to ensure that the vehicle speed will not be too slow and thus affect the user experience; when the first distance is less than a certain value, the decrease in the vehicle output power can be increased to provide an obvious deceleration to ensure that the user has enough reaction time to take over the vehicle operation and avoid collisions. The specific adjustment process can be set and adjusted according to actual application requirements, and is not limited here.

[0034] In one embodiment, before adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, it further includes: obtaining the user's parking distance parameter, where the parking distance parameter includes the safety distance between the vehicle and the obstacle determined according to the user's historical parking data; determining the decrease amplitude of the vehicle output power based on the parking distance parameter and the first distance, so that the vehicle stops and stays at the position corresponding to the parking distance parameter. Specifically, the parking data of the vehicle for a period of time can be collected to obtain the user's parking habits, and then the user's habitual parking distance can be obtained. Here, the parking distance refers to the distance that the user prefers to keep between the vehicle and the obstacle in the parked state. Controlling the safety distance based on the user's preference can meet the user's personalized needs and enhance the user experience.

[0035] In one embodiment, before obtaining the parking distance parameter of the user, it further includes: obtaining the depth data of the brake pedal being depressed during each parking process of the vehicle in a preset historical time period; determining the braking habit data of the user based on the depth data, so that during the current parking process, the braking habit data of the corresponding user is called through identity recognition to perform the output power control. Exemplarily, the depth data of the user depressing the brake pedal can be collected within a week, and the user identity information is associated with the collected data during the collection process, where the identity information may include: face image, iris, fingerprint, vein feature, etc. The depth data collected each time includes the change data of the brake pedal depth over time during the process from the vehicle entering the reverse gear to the vehicle coming to a complete stop. By fitting the depth data collected multiple times, the braking habit data of the user can be obtained, and this braking habit data can be used to control the brake pedal action at the current parking moment. Of course, the acquisition method of the braking habit data is not limited to data fitting, and it can also be determined through a classification model obtained by an artificial neural network. The specific implementation process can be set and selected according to actual application requirements and will not be limited here. After the user gets in the car, the vehicle terminal can collect the user's identity information, and then perform identity verification based on the identity information. After passing the verification, the corresponding braking habit data is called to control the real-time output power during the braking process.

[0036] In one embodiment, during the automatic braking process, if there is manual intervention, such as manually depressing the brake pedal for braking, the amplitude of the driver depressing the brake pedal or the accelerator during the reverse process can also be used to determine a target output power. If the target output power is higher than the vehicle output power determined based on the distance, the vehicle speed is adjusted based on the vehicle output power determined based on the distance. If the target output power is higher than the vehicle output power determined based on the distance, the target output power can be directly used for vehicle speed control.

[0037] Based on the technical solutions of the embodiments of the present application above, by calculating the distance between the vehicle and the obstacle in the reverse scenario and controlling the vehicle output power according to this distance, problems such as scratching and collision during the reverse process can be effectively avoided, enriching the vehicle's active protection function.

[0038] Please refer to Figure 2 , Figure 2It is a block diagram of a reverse control system in an embodiment of the present application. The system includes: an information acquisition module 20 for acquiring environmental information around the vehicle, vehicle gear information, and the current vehicle speed; a scene trigger module 21 for determining the vehicle driving scene according to the environmental information and the vehicle gear information, and extracting the target obstacle in the environmental information when the vehicle driving scene is a reverse scene and the current vehicle speed meets the preset reverse assist function activation condition; a power control module 22 for adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0039] In one embodiment, the step that the scene trigger module 21 is further used for determining the vehicle driving scene according to the environmental information and the vehicle gear information includes: identifying the environmental information through a preset environmental recognition model to obtain parking space information; determining that the vehicle is in a reverse scene when the vehicle gear information is in reverse gear and the environmental information contains the parking space information.

[0040] In one embodiment, the scene trigger module 21 is further used for adjusting the vehicle output power and decelerating the vehicle when the vehicle driving scene is a reverse scene and the current vehicle speed does not meet the preset reverse assist function activation condition, so that the reverse assist function remains in an activated state.

[0041] In one embodiment, after the scene trigger module 21 obtains the parking space information, it further includes: determining the available parking spaces according to the parking space information, generating a parking space distribution map based on the available parking spaces and outputting it to the vehicle terminal for display; determining the target parking space in the parking space distribution map in response to the user's interaction operation, and planning a driving path based on the target parking space so that the vehicle drives into the target parking space.

[0042] In one embodiment, the step that the scene trigger module 21 is further used for extracting the target obstacle in the environmental information includes: detecting the obstacle information within a preset range of the vehicle during the process of the vehicle driving into the target parking space; taking the obstacle that is close to the target parking space and within the preset range as the target obstacle.

[0043] In one embodiment, after the power control module 22 extracts the target obstacle in the environmental information, it further includes: adjusting the angle of the vehicle steering wheel according to the distance from the target obstacle on the side of the vehicle, so that the distance between the vehicle and the target obstacle is maintained within a preset safety distance.

[0044] In one embodiment, before the power control module 22 is further configured to adjust the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, the method further includes: obtaining a parking distance parameter of the user, where the parking distance parameter includes a safe distance between the vehicle and the obstacle determined according to the user's historical parking data; determining a decrease amplitude of the vehicle output power based on the parking distance parameter and the first distance, so that the vehicle stays at a position corresponding to the parking distance parameter after stopping.

[0045] The above electric vehicle power-on and power-off pre-charging control system can be implemented in the form of a computer program, and the computer program can run on a computer device as Figure 3 shown. The computer device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor.

[0046] Each module in the above electric vehicle power-on and power-off pre-charging control system can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in or independent of the memory of the terminal in hardware form, or stored in the memory of the terminal in software form, so that the processor can call and execute the operations corresponding to the above modules. The processor can be a central processing unit (CPU), a microprocessor, a single-chip microcomputer, etc.

[0047] As Figure 3 shown, it is a schematic internal structure diagram of a computer device in one embodiment. A computer device is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented: obtaining environmental information, vehicle gear information, and the current vehicle speed around the vehicle; determining a vehicle driving scenario according to the environmental information and the vehicle gear information, so as to extract a target obstacle in the environmental information when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition; adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0048] In one embodiment, when the above processor executes, the step of determining the vehicle driving scenario according to the environmental information and the vehicle gear information includes: identifying the environmental information through a preset environmental recognition model to obtain parking space information; when the vehicle gear information is in reverse gear and the environmental information includes the parking space information, determining that the vehicle is in a reverse driving scenario.

[0049] In one embodiment, when the above-mentioned processor executes, when the vehicle driving scenario is a reverse scenario and the current vehicle speed does not meet the preset reverse assistance function activation condition, the vehicle output power is adjusted to decelerate the vehicle so that the reverse assistance function remains activated.

[0050] In one embodiment, after obtaining the parking space information when the above-mentioned processor executes, it further includes: determining available parking spaces according to the parking space information, generating a parking space distribution map based on the available parking spaces and outputting it to the vehicle terminal for display; responding to the user's interaction operation to determine the target parking space in the parking space distribution map, and planning a driving route based on the target parking space so that the vehicle drives into the target parking space.

[0051] In one embodiment, the step of extracting the target obstacle in the environmental information when the above-mentioned processor executes includes: detecting the obstacle information within a preset range of the vehicle during the process of the vehicle driving into the target parking space; taking the obstacle that is close to the target parking space and within the preset range as the target obstacle.

[0052] In one embodiment, after extracting the target obstacle in the environmental information when the above-mentioned processor executes, it further includes: adjusting the angle of the vehicle steering wheel according to the distance from the target obstacle on the side of the vehicle so that the distance between the vehicle and the target obstacle is maintained within a preset safety distance.

[0053] In one embodiment, before adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle when the above-mentioned processor executes, it further includes: obtaining the user's parking distance parameter, where the parking distance parameter includes the safety distance between the vehicle and the obstacle determined according to the user's historical parking data; determining the decrease amplitude of the vehicle output power based on the parking distance parameter and the first distance so that the vehicle stops at the position corresponding to the parking distance parameter.

[0054] In one embodiment, the above-mentioned computer device can be used as a server, including but not limited to an independent physical server, or a server cluster composed of multiple physical servers. The computer device can also be used as a terminal, including but not limited to mobile phones, tablet computers, personal digital assistants, or smart devices, etc. As Figure 3 shown, the computer device includes a processor 30, a non-volatile storage medium 311, an internal memory 312, a display screen 32, and a network interface 33 connected through a system bus 34.

[0055] Among them, the processor 30 of the computer device is used to provide computing and control capabilities to support the operation of the entire computer device. The non-volatile storage medium 311 of the computer device stores an operating system 3111 and a computer program 3112. The computer program 3112 can be executed by the processor 30 to implement a reverse control method provided by each of the above embodiments. The internal memory 312 in the computer device provides a cache operating environment for the operating system 3111 and the computer program 3112 in the non-volatile storage medium 311. The display interface can display data through the display screen 32. The display screen 32 can be a touch screen, such as a capacitive screen or an electronic screen, and can generate corresponding instructions by receiving click operations on the controls displayed on the touch screen.

[0056] Those skilled in the art can understand that Figure 3 the structure of the computer device shown in

[0057] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0058] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining environmental information, vehicle gear information, and the current vehicle speed around the vehicle; determining a vehicle driving scenario according to the environmental information and the vehicle gear information, and when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition, extracting a target obstacle from the environmental information; adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

[0059] In one embodiment, when the computer program is executed by the processor, the step of determining the vehicle driving scenario according to the environmental information and the vehicle gear information includes: identifying the environmental information through a preset environmental recognition model to obtain parking space information; when the vehicle gear information is in reverse gear and the environmental information includes the parking space information, determining that the vehicle is in a reverse scenario.

[0060] In one embodiment, after obtaining the parking space information when the computer program is executed by a processor, the method further includes: determining available parking spaces based on the parking space information, generating a parking space distribution map based on the available parking spaces, and outputting the map to a vehicle terminal for display; and determining a target parking space in the parking space distribution map in response to a user interaction operation, and planning a driving route based on the target parking space so that the vehicle drives into the target parking space.

[0061] In one embodiment, the step of extracting a target obstacle from the environmental information when the computer program is executed by a processor includes: detecting obstacle information within a preset range of the vehicle during the process of the vehicle driving into the target parking space; and taking the obstacle that is close to the target parking space and within the preset range as the target obstacle.

[0062] In one embodiment, after extracting the target obstacle from the environmental information when the computer program is executed by a processor, the method further includes: adjusting the angle of the vehicle steering wheel according to the distance from the target obstacle on the side of the vehicle so that the distance between the vehicle and the target obstacle is maintained within a preset safety distance.

[0063] In one embodiment, before adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle when the computer program is executed by a processor, the method further includes: obtaining a parking distance parameter of the user, where the parking distance parameter includes a safety distance between the vehicle and an obstacle determined according to the user's historical parking data; and determining a decrease amplitude of the vehicle output power based on the parking distance parameter and the first distance so that the vehicle stops at a position corresponding to the parking distance parameter.

[0064] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), etc.

[0065] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those of ordinary skill in the art in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A reverse control method, characterized in that, Including: Obtain the environmental information around the vehicle, the vehicle gear information, and the current vehicle speed; Determine the vehicle driving scenario according to the environmental information and the vehicle gear information, and when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition, extract the target obstacles in the environmental information; Adjust the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

2. The reverse control method according to claim 1, characterized in that, The step of determining the vehicle driving scenario according to the environmental information and the vehicle gear information includes: Identify the environmental information through a preset environmental recognition model to obtain parking space information; When the vehicle gear information is in reverse gear and the environmental information contains the parking space information, determine that the vehicle is in a reverse scenario.

3. The reverse control method according to claim 1, wherein When the vehicle driving scenario is a reverse scenario and the current vehicle speed does not meet the preset reverse assist function activation condition, adjust the vehicle output power to decelerate the vehicle so that the reverse assist function remains activated.

4. The reverse control method according to claim 2, wherein After obtaining the parking space information, it further includes: Determine the available parking spaces according to the parking space information, and generate a parking space distribution map based on the available parking spaces and output it to the vehicle terminal for display; Respond to the user's interaction operation to determine the target parking space in the parking space distribution map, and plan the driving route based on the target parking space so that the vehicle drives into the target parking space.

5. The reverse control method according to claim 4, characterized in that, The step of extracting the target obstacles in the environmental information includes: During the process of the vehicle driving into the target parking space, detect the obstacle information within the preset range of the vehicle; Regard the obstacles that are close to the target parking space and within the preset range as the target obstacles.

6. The reverse control method according to claim 1, wherein Before adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, it further includes: Obtain the user's parking distance parameter, where the parking distance parameter includes the safe distance between the vehicle and the obstacle determined according to the user's historical parking data; Determine the decrease amplitude of the vehicle output power based on the parking distance parameter and the first distance, so that the vehicle stops and stays at the position corresponding to the parking distance parameter.

7. The reverse control method according to claim 6, wherein Before obtaining the user's parking distance parameter, it further includes: Obtain the depth data of stepping on the brake pedal during each parking process of the vehicle in a preset historical time period; Determine the user's braking habit data based on the depth data, so that the braking habit data of the corresponding user is called through identity recognition during the current parking process for the output power control.

8. A reverse control system, characterized in that, Including: An information acquisition module for obtaining the environmental information around the vehicle, the vehicle gear information, and the current vehicle speed; A scenario trigger module for determining the vehicle driving scenario according to the environmental information and the vehicle gear information, and when the vehicle driving scenario is a reverse scenario and the current vehicle speed meets the preset reverse assist function activation condition, extracting the target obstacles in the environmental information; A power control module for adjusting the vehicle output power according to the first distance between the vehicle and the corresponding target obstacle, so that the vehicle decelerates as the first distance decreases until the vehicle stops at a preset position.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the reverse control method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the reverse control method according to any one of claims 1 to 7 are implemented.

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