Vehicle reversing auxiliary control method and device and vehicle

Abstract

The invention discloses a reversing auxiliary control method and device of a vehicle and the vehicle, and relates to the technical field of vehicles. The specific implementation mode of the invention comprises the following steps: responding to a road whose vehicle driving width is less than or equal to a preset width threshold value, and collecting environment information of the road and driving parameters of the vehicle in real time; based on the environment information and the driving parameters which are acquired in real time, generating an environment map of a passed road section for the road, and displaying the environment map through a vehicle-mounted display screen; and controlling the vehicle to reverse according to the environment map and the driving parameters in response to a received reversing instruction input by a user for the environment map. According to the embodiment, on the basis of tracking reversing based on the driving parameters recorded during forward driving, error correction is carried out on vehicle control in combination with the environment map, so that obstacle avoidance and smooth reversing on a narrow road are realized, the reversing efficiency is improved, and the reversing experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle technology, in particular to a vehicle reversing auxiliary control method and device and vehicle. BACKGROUND

[0002] The current mainstream tracking reversing function can only achieve the purpose of vehicle reversing return by simply recording wheel speed pulses and steering wheel turning angles and simply "playing back" the vehicle lateral and longitudinal control during reversing. Due to sensor accuracy, road feedback and other reasons, the "playback" method has poor control accuracy, and the lateral deviation can reach + / - 30 cm and the longitudinal deviation can exceed + / - 50 cm when reversing 50 m. For scenes with large turning angles, the control deviation is even larger, which cannot meet the needs of some actual road backward escape. SUMMARY

[0003] Therefore, the embodiments of the present application provide a vehicle reversing auxiliary control method and device and vehicle. When entering a road with a relatively narrow width, the road environment information and vehicle driving parameters are collected, an environment map of the road is constructed and displayed, and in the case that a user inputs a reversing instruction with respect to the environment map, the vehicle control is error-corrected in combination with the environment map on the basis of tracking reversing based on the driving parameters recorded during forward driving, so that obstacle avoidance and smooth reversing on a relatively narrow road are achieved, the reversing efficiency is improved, and the user's reversing experience is improved.

[0004] To achieve the above-mentioned purpose, according to an aspect of the embodiments of the present application, a vehicle reversing auxiliary control method is provided, comprising:

[0005] In response to the vehicle entering a road with a width less than or equal to a preset width threshold, real-time collection of environment information of the road and driving parameters of the vehicle;

[0006] Based on the real-time collected environment information and driving parameters, generation of an environment map of a traveled road section with respect to the road, and display of the environment map through a vehicle-mounted display screen;

[0007] In response to receiving a reversing instruction input by a user with respect to the environment map, control of the vehicle reversing according to the environment map and the driving parameters.

[0008] Optionally, the method further comprises:

[0009] According to the environment information of the road, determination of one or more marker points with respect to the traveled road section of the road, and any marker point is located at a branch intersection or a starting point of the traveled road section;

[0010] Marking the positions corresponding to the one or more marker points on the environment map.

[0011] Optionally, controlling the vehicle to reverse based on the environmental map and the driving parameters includes:

[0012] When the reversing command indicates a target marker point included in the environment map, the vehicle is controlled to reverse to the target marker point according to the environment map and the driving parameters, and the vehicle's automatic driving mode is switched to manual driving mode, allowing the user to take over the vehicle at the target marker point.

[0013] Optionally, the environment map includes a drivable area and one or more of the following elements:

[0014] Road topology boundaries, static obstacles, and dynamic obstacles.

[0015] Optionally, controlling the vehicle to reverse based on the environmental map and the driving parameters includes:

[0016] If the reversing command does not indicate a reversing destination, the vehicle is controlled to reverse to the starting point of the previously traversed section of the road, based on the environmental map and the driving parameters.

[0017] And / or,

[0018] Based on the driving parameters, the opposite driving parameters are determined. The reverse driving parameters are corrected according to the environmental map. The vehicle's gear shifting and / or speed and / or steering wheel angle are controlled according to the corrected reverse driving parameters to control the vehicle's reversing.

[0019] Optionally, the method further includes: during the reversing process of the vehicle, in response to receiving a takeover command input by the user, switching the vehicle's automatic driving mode to manual driving mode;

[0020] And / or,

[0021] The method further includes: if the length of the traversed road segment exceeds a preset length threshold, deleting the earliest generated traversed road segment in the environmental map, so that the environmental map retains the traversed road segments corresponding to the length threshold.

[0022] To achieve the above objectives, according to one aspect of the present invention, a vehicle reversing assistance control device is provided, comprising: an information acquisition module, an environmental map generation module, and a control module, wherein,

[0023] The information acquisition module, in response to the vehicle entering a road with a width less than or equal to a preset width threshold, collects environmental information of the road and driving parameters of the vehicle in real time.

[0024] The environmental map generation module generates an environmental map of the route already traveled based on the real-time collected environmental information and driving parameters, and displays the environmental map on the vehicle display screen.

[0025] The control module, in response to receiving a reversing command input by the user on the environmental map, controls the vehicle to reverse according to the environmental map and the driving parameters.

[0026] To achieve the above objectives, according to one aspect of the present invention, an electronic device for reversing assistance control of a vehicle is provided, comprising: one or more processors;

[0027] Storage device for storing one or more programs.

[0028] When the one or more programs are executed by the one or more processors, the one or more processors perform the method as described in the above embodiments.

[0029] To achieve the above objectives, according to one aspect of the present invention, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the above embodiments.

[0030] To achieve the above objectives, according to one aspect of the present invention, a vehicle is provided, including: a reversing assist control device for a vehicle as described in the above embodiments or an electronic device for reversing assist control as described in the above embodiments.

[0031] One embodiment of the above invention has the following advantages or beneficial effects: when entering a narrow road, road environment information and vehicle driving parameters are collected, an environmental map of the road is constructed and displayed, and when the user inputs a reversing command on the environmental map, the vehicle control is corrected for errors based on the driving parameters recorded during forward driving and combined with the environmental map, thereby achieving obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience.

[0032] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0033] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0034] Figure 1 This is a schematic diagram of the main steps of a vehicle reversing assistance control method according to an embodiment of the present invention;

[0035] Figure 2This is a schematic diagram of an environmental map corresponding to a section of road that has been traversed according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the environmental map corresponding to the traversed road section according to another embodiment of the present invention;

[0037] Figure 4 This is a flowchart of the control logic of a vehicle reversing assistance control method according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the main modules of a vehicle reversing assist control device according to an embodiment of the present invention;

[0039] Figure 6 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied;

[0040] Figure 7 This is a schematic diagram of the structure of a computer system suitable for implementing terminal devices or servers of the present invention. Detailed Implementation

[0041] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0042] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0043] Figure 1 This is a schematic diagram of the main steps of a vehicle reversing assistance control method according to an embodiment of the present invention.

[0044] like Figure 1 As shown, the vehicle reversing assistance control method of this embodiment mainly includes steps S101-S103:

[0045] Step S101: In response to the vehicle entering a road with a width less than or equal to a preset width threshold, real-time collection of road environmental information and vehicle driving parameters is performed.

[0046] Step S102: Based on the real-time collected environmental information and driving parameters, generate an environmental map of the road section that has been driven through, and display the environmental map through the vehicle display screen.

[0047] Step S103: In response to receiving a reversing command input by the user for the environment map, control the vehicle to reverse according to the environment map and driving parameters.

[0048] In real-world driving scenarios, you might encounter the following situations: A vehicle enters a narrow road, making it impossible to make a U-turn or pass other vehicles. If you encounter an obstacle or an oncoming vehicle and cannot proceed, you should reverse to a wider section of the road to turn and continue driving or pass other vehicles.

[0049] In existing technologies, some vehicles have a line-following reversing function. This involves recording parameters such as wheel speed pulses and steering wheel angle while the vehicle is traveling forward, and then controlling the vehicle to reverse using the opposite parameters. However, this line-following reversing method may suffer from poor control accuracy due to factors such as sensor precision and road feedback, resulting in the vehicle failing to reverse smoothly to the intended destination.

[0050] To address the aforementioned issue of poor control accuracy, this embodiment proposes a reversing auxiliary control method that primarily relies on mapping and integrates traditional steering wheel angle-wheel speed odometer data to achieve high-precision reversing on narrow roads. The preset width threshold is determined based on the sum of the vehicle's width and the required width X for passing. When the vehicle enters a narrow road while traveling forward, its data acquisition function is automatically activated to collect environmental information about the road and driving parameters from the vehicle's forward travel. The collected driving parameters (such as wheel speed and steering wheel angle) are used for line-following reversing, and an environmental map is constructed using the collected environmental information. This environmental map is then used to correct control deviations during the line-following reversing process, thereby improving the vehicle's reversing control accuracy and enabling the vehicle to successfully complete the reversing maneuver. The execution entity in this embodiment is the vehicle controller.

[0051] In a specific embodiment, SLAM (simultaneous localization and mapping) technology can be used to construct an environmental map based on the collected environmental information. Specifically, the near-field environment of the vehicle is scanned and modeled using fisheye cameras and ultrasonic radar mounted on the vehicle body. Simultaneously, the vehicle's own position and attitude are estimated using information such as steering wheel angle and wheel speed odometer readings. Finally, an environmental map of the traversed road segment is generated based on the modeling results and the vehicle's own position and attitude. In an optional embodiment of the invention, the environmental map includes the vehicle's drivable area and one or more of the following elements: road topology boundaries, static obstacles, and dynamic obstacles. Figure 2The image shows the generated environmental map of the route already traveled. The lines L on either side represent road topology boundaries, the area R between the lines L represents the drivable area, the shaded blocks O outside the lines represent obstacles (such as buildings, parked vehicles, etc.), and the black square E represents the vehicle itself. This environmental map is displayed on the vehicle's screen (such as the central control screen) so that when reversing is required, the user can intuitively see the drivable path for reversing. Knowing the reversing path, the user can input a reversing command, which the vehicle controller will then use to control the vehicle to reverse based on the environmental map and driving parameters.

[0052] This embodiment, based on driving parameters recorded during forward driving, performs line-following reversing and incorporates an environmental map to correct vehicle control errors. This enables obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience. Simultaneously, displaying the environmental map informs the user of possible reversing paths, reducing anxiety and panic when making reversing decisions. Furthermore, in an optional embodiment, the vehicle's position and posture on the environmental map can be displayed in real-time on a screen, allowing the user to observe the vehicle's current status and make timely decisions to take over the vehicle.

[0053] To facilitate users in quickly determining their reversing destination, one or more locations corresponding to wider road segments are marked on the generated environmental map, allowing users to quickly select any location on the environmental map to input reversing commands indicating the destination. In an optional embodiment of the invention, the method further includes: determining one or more marker points for previously traversed road segments based on road environmental information, where each marker point is located at a fork in the road or the starting point of a previously traversed road segment; and marking the locations corresponding to one or more marker points on the environmental map.

[0054] Specifically, based on road environmental information, the starting point and forks of the already traversed road segments are determined, and the Points of Interest (POIs) along the path, including the starting point and forks, are marked on the environmental map. For example... Figure 3The image shows an environmental map marked with points A, B, C, and D. Point A is the starting point of the previously traversed road segment, points B, C, and D are forks in the road, lines L on either side represent road topology boundaries, the area R between lines L represents the drivable area, shaded blocks O outside the lines represent obstacles (such as buildings, parked vehicles, etc.), and the black square E represents the vehicle itself. The environmental map with marked points is displayed on a screen, allowing the user to quickly determine the reversing destination. For example, the user can input a reversing command indicating the destination as point C by clicking on point C on the screen, or by using voice input. This embodiment does not limit the method by which the user inputs the reversing command.

[0055] This embodiment identifies and marks points, allowing users to easily see locations on wider roads, thus enabling them to quickly and accurately determine their reversing destination and improving the efficiency of reversing decisions.

[0056] The embodiments of the present invention are applicable to autonomous vehicles. After the user inputs a reversing command, the vehicle automatically reverses. After reversing to the target marker indicated by the user, the vehicle control is handed over to the driver, that is, the autonomous driving mode of the vehicle is switched to the manual driving mode, and the driver decides the dwell time at the target marker and how the vehicle should proceed.

[0057] In an optional embodiment of the present invention, controlling the vehicle to reverse based on an environmental map and driving parameters includes: when a reversing command indicates a target marker point included in the environmental map, controlling the vehicle to reverse to the target marker point based on the environmental map and driving parameters, and switching the vehicle's automatic driving mode to manual driving mode, allowing the user to take over the vehicle at the target marker point. It is understood that the user may also take over the vehicle during the reversing process.

[0058] Specifically, when the user instructs the vehicle to reverse to a target marker, such as marker C, the system controls the vehicle to reverse to the target marker. Once the vehicle reaches the target marker, control of the vehicle is handed over to the vehicle user, such as the driver, who then operates the vehicle.

[0059] This embodiment switches the autonomous driving mode to manual driving mode at the target marker point, avoiding situations where the vehicle makes incorrect decisions due to the lack of corresponding control logic in unplanned environments, thus improving driving safety.

[0060] In practice, there may be situations where the user only inputs a reversing command but does not specify the reversing destination. To address this, in an optional embodiment of the present invention, controlling the vehicle to reverse based on an environmental map and driving parameters includes: when the reversing command does not specify a reversing destination, controlling the vehicle to reverse to the starting point of a previously traversed section of the road based on the environmental map and driving parameters.

[0061] Specifically, when the user does not specify a destination for reversing, the system uses a generated environmental map and driving parameters collected during forward driving to control the vehicle to reverse back to the starting point of a previously traversed road segment. Figure 3 Marker point D in the diagram.

[0062] This embodiment serves as a fallback logic for the reversing control strategy. If the user does not specify the reversing destination, the starting point of the already passed road segment is taken as the reversing destination, thus preventing the vehicle from getting stuck in an infinite wait due to the lack of a clear reversing destination.

[0063] In an optional embodiment of the present invention, reverse driving parameters are determined based on driving parameters, the reverse driving parameters are corrected based on an environmental map, and the vehicle's gear shifting and / or vehicle speed and / or steering wheel angle are controlled based on the corrected reverse driving parameters to control the vehicle reversing.

[0064] Specifically, the reversing logic in this embodiment is divided into two layers. The first layer is line-following reversing, which determines the corresponding reverse driving parameters based on the driving parameters collected during forward driving. For example, if the steering wheel angle collected during forward driving is +5°, then the steering wheel angle is determined to be -5° during reversing. Another example is that if the vehicle travels forward 100m during forward driving, then it is determined to travel backward 100m during reversing. Another example is that if the vehicle is in forward gear during forward driving, then it is in reverse gear during reversing. Another example is that if the vehicle speed is 10m / s during forward driving, then the vehicle speed is -10m / s or -5m / s during reversing, and so on. The second layer is error correction. Due to sensor errors and / or deterioration in controller accuracy, the vehicle's reversing path deviates from the actual drivable path. Therefore, the reversing path can be corrected based on the environmental map. For example, if the steering wheel angle collected during forward driving is +5°, then the steering wheel angle during reversing is determined to be -5°. However, if the environmental map determines that reversing with a steering wheel angle of -5° will encounter obstacles, then the steering wheel angle is corrected from -5° to -6° to achieve obstacle avoidance and smooth reversing. This ensures that the vehicle's reversing path is consistent with the actual drivable path, allowing for successful reversing and improving reversing efficiency.

[0065] The control logic flowchart of the vehicle reversing assist control method in this embodiment is as follows: Figure 4As shown. The control logic of the vehicle reversing assistance control method in this embodiment includes narrow passage detection 401, information acquisition 402, environmental map creation 403, line-following reversing 404, error correction 405, and reaching the destination 406. Specifically, when the vehicle is detected entering a narrow passage, information acquisition and environmental map creation are triggered. Based on the acquired driving parameters, the vehicle is controlled to perform line-following reversing, and error correction for vehicle control is performed based on the environmental map until the vehicle reverses to the destination.

[0066] This embodiment improves the accuracy of vehicle control, increases reversing efficiency, and enhances the user experience by combining line-following reversing with an environmental map for error correction.

[0067] In actual reversing operations, the following situations may occur: During reversing, the user, for some reason (such as the user finding the automatic reversing speed too slow), terminates the automatic driving mode and takes over the vehicle to manually control the reversing according to their own wishes. In an optional embodiment of the present invention, the method further includes: during the vehicle reversing process, in response to receiving a takeover command input by the user, switching the vehicle's automatic driving mode to manual driving mode.

[0068] This embodiment provides users with the option of manual reversing on top of automatic reversing, increasing the flexibility of reversing control and allowing users to control reversing according to their own wishes, thus improving the user's reversing experience.

[0069] In actual vehicle driving, there may be situations where narrow roads are long, resulting in a large amount of environmental map data generated for such roads, and requiring significant storage space. To reduce the storage resource consumption of environmental maps, the previously generated environmental map data can be deleted, retaining only the most recently generated environmental map of a certain length corresponding to the traversed road segment.

[0070] In an optional embodiment of the present invention, the method further includes: deleting the first-generated driven road segment in the environmental map when the length of the driven road segment exceeds a preset length threshold, so that the environmental map retains the driven road segments corresponding to the length threshold.

[0071] For example, a length threshold of 300m means that only 300m of the already traveled road segment in the environmental map is retained. If the length of the road segment corresponding to the generated environmental map exceeds 300m, the first generated portion of the environmental map exceeding 300m is deleted, and the most recently generated 300m length of the already traveled road segment in the environmental map is retained, thereby saving vehicle storage resources.

[0072] In an optional embodiment of the present invention, if the width of the road on which the vehicle is traveling is detected to be greater than a preset width threshold, it is not necessary to construct an environmental map of the road, that is, it is not necessary to collect environmental information and driving parameters of the road. When the vehicle is reversing, the vehicle's tracking reversing function can be used directly for tracking reversing.

[0073] The vehicle reversing assistance control method of this invention collects road environment information and vehicle driving parameters when entering a narrow road, constructs and displays an environmental map of the road, and, when the user inputs a reversing command on the environmental map, performs line-following reversing based on the driving parameters recorded during forward driving, and combines the environmental map to correct errors in vehicle control, thereby achieving obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience.

[0074] Figure 5 This is a schematic diagram of the main modules of a vehicle reversing assist control device 500 according to an embodiment of the present invention.

[0075] like Figure 5 As shown, the vehicle control device 500 of this embodiment includes: an information acquisition module, an environmental map generation module, and a control module, wherein...

[0076] The information acquisition module 501, in response to a vehicle entering a road with a width less than or equal to a preset width threshold, collects road environmental information and vehicle driving parameters in real time.

[0077] The environmental map generation module 502 generates an environmental map of the road section that has been driven through based on real-time collected environmental information and driving parameters, and displays the environmental map through the vehicle display screen.

[0078] The control module 503 responds to the user's input of a reversing command on the environment map and controls the vehicle to reverse according to the environment map and driving parameters.

[0079] In an optional embodiment of the present invention, the environmental map generation module 502 is further configured to determine one or more marker points for the already driven road segments based on the road environmental information, wherein the road segment where any marker point is located is a fork in the road or the starting point of the already driven road segment; and mark the location corresponding to one or more marker points on the environmental map.

[0080] In an optional embodiment of the present invention, the control module 503 is further configured to control the vehicle to reverse to the target marker point according to the environment map and driving parameters when the reversing command indicates that the environment map includes the target marker point, and switch the vehicle's automatic driving mode to manual driving mode so that the user can take over the vehicle at the target marker point.

[0081] In an optional embodiment of the invention, the environment map includes a drivable area and one or more of the following elements: road topology boundaries, static obstacles, and dynamic obstacles.

[0082] In an optional embodiment of the present invention, the control module 503 is further configured to, when the reversing command does not indicate the reversing destination, control the vehicle to reverse to the starting point of the already driven section of the road according to the environmental map and driving parameters; and / or, determine the opposite reverse driving parameters according to the driving parameters, correct the reverse driving parameters according to the environmental map, and control the vehicle's gear shifting and / or vehicle speed and / or steering wheel angle according to the corrected reverse driving parameters, so as to control the vehicle to reverse.

[0083] In an optional embodiment of the present invention, the control module 503 is further configured to switch the vehicle's automatic driving mode to manual driving mode in response to receiving a takeover command input by the user during the vehicle reversing process.

[0084] In an optional embodiment of the present invention, the environmental map generation module 502 is further configured to delete the first-generated driven road segment in the environmental map when the length of the driven road segment exceeds a preset length threshold, so that the environmental map retains the driven road segment corresponding to the length threshold.

[0085] The reversing assist control device of this invention collects road environment information and vehicle driving parameters when entering a narrow road, constructs and displays an environmental map of the road, and, when the user inputs a reversing command on the environmental map, performs line-following reversing based on the driving parameters recorded during forward driving, and combines the environmental map to correct errors in vehicle control, thereby achieving obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience.

[0086] The vehicle in this embodiment of the invention may include: the reversing assist control device of the vehicle described above or an electronic device for reversing assist control of the vehicle.

[0087] The vehicle's reversing assist control device includes an information acquisition module, an environmental map generation module, and a control module. The information acquisition module, in response to the vehicle entering a road with a width less than or equal to a preset width threshold, collects real-time road environmental information and vehicle driving parameters. The environmental map generation module, based on the real-time collected environmental information and driving parameters, generates an environmental map of the previously traversed road segment and displays the map on the vehicle's display screen. The control module, in response to receiving a reversing command input by the user regarding the environmental map, controls the vehicle to reverse according to the environmental map and driving parameters.

[0088] An electronic device for reversing assistance control of a vehicle includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the reversing assistance control method for a vehicle in the above embodiments: in response to the vehicle entering a road with a width less than or equal to a preset width threshold, real-time acquisition of road environmental information and vehicle driving parameters; based on the real-time acquisition of environmental information and driving parameters, generation of an environmental map of the road segment already traversed, and display of the environmental map through an in-vehicle display screen; and in response to receiving a reversing command input by the user for the environmental map, controlling the vehicle to reverse according to the environmental map and driving parameters.

[0089] In this embodiment of the invention, when the vehicle enters a narrow road, it collects road environment information and vehicle driving parameters, constructs and displays an environmental map of the road, and when the user inputs a reversing command on the environmental map, it performs line-following reversing based on the driving parameters recorded during forward driving, and combines the environmental map to correct errors in vehicle control, thereby achieving obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience.

[0090] Figure 6 An exemplary system architecture 600 for a vehicle to which embodiments of the present invention can be applied is shown.

[0091] like Figure 6 As shown, the system architecture 600 may include an information acquisition device 601 for collecting road environment information, a network 602, and a vehicle controller 603. The information acquisition device 601 includes an onboard camera, wheel speedometer, and odometer, etc. The network 602 serves as the medium for providing a communication link between the information acquisition device 601 and the vehicle controller 603. The network 602 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0092] The vehicle controller 603 interacts with the information acquisition device 601 via network 602 to receive or send data. The information acquisition device 601 can collect real-time environmental information of the current road and the vehicle's driving parameters on the current road when the vehicle enters a road with a width less than or equal to a preset width threshold, and transmits the collected environmental information and driving parameters to the vehicle controller 603. The vehicle controller 603 generates an environmental map of the traversed road segment based on the environmental information sent by the information acquisition device 601, and controls the vehicle to reverse based on the environmental map and the acquired driving parameters. The vehicle controller 603 can be an onboard server or a server deployed remotely.

[0093] It should be noted that the vehicle reversing assistance control method provided in this embodiment of the invention can be executed by the vehicle controller 603. Additionally, the vehicle control device provided in this embodiment of the invention can be installed in the vehicle controller 603.

[0094] It should be understood that Figure 6 The number of information acquisition devices, networks, and vehicle controllers shown is merely illustrative. Any number of information acquisition devices, networks, and vehicle controllers can be used depending on implementation needs.

[0095] The following is for reference. Figure 7 It shows a schematic diagram of the structure of a computer system 700 suitable for implementing an electronic device according to embodiments of the present invention. Figure 7 The information collection device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0096] like Figure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 702 or programs loaded from storage section 708 into random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the computer system 700. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0097] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, 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 disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0098] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs the functions defined above in the system of this invention.

[0099] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0101] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor may be described as including an information acquisition module, an environmental map generation module, and a control module. The names of these modules do not necessarily limit the module itself; for example, the control module may also be described as "a module that controls the vehicle to reverse based on the environmental map and the driving parameters."

[0102] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: in response to a vehicle entering a road with a width less than or equal to a preset width threshold, collect real-time environmental information of the road and driving parameters of the vehicle; based on the real-time collected environmental information and driving parameters, generate an environmental map of the previously traversed road segment and display the environmental map on an in-vehicle display screen; and in response to receiving a reversing command input by a user regarding the environmental map, control the vehicle to reverse according to the environmental map and driving parameters.

[0103] According to the technical solution of the present invention, when entering a narrow road, road environment information and vehicle driving parameters are collected, and an environmental map of the road is constructed and displayed. When the user inputs a reversing command on the environmental map, the vehicle controls are corrected for errors based on the driving parameters recorded during forward driving and combined with the environmental map, thereby achieving obstacle avoidance and smooth reversing on narrow roads, improving reversing efficiency and enhancing the user's reversing experience.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for assisting in reversing a vehicle, characterized in that, include: In response to the vehicle entering a road with a width less than or equal to a preset width threshold, the environmental information of the road and the driving parameters of the vehicle are collected in real time. Based on the real-time collected environmental information and driving parameters, an environmental map of the route already traveled is generated for the road, and the environmental map is displayed on the vehicle display screen. In response to receiving a reversing command input by the user on the environment map, the system controls the vehicle to reverse based on the environment map and the driving parameters.

2. The method according to claim 1, characterized in that, The method further includes: Based on the environmental information of the road, one or more marker points are determined for the already traversed road sections, and the road section where any of the marker points is located is either a fork in the road or the starting point of the already traversed road section. Mark the locations corresponding to one or more of the marked points on the environmental map.

3. The method according to claim 2, characterized in that, The step of controlling the vehicle to reverse based on the environmental map and the driving parameters includes: When the reversing command indicates a target marker point included in the environment map, the vehicle is controlled to reverse to the target marker point according to the environment map and the driving parameters, and the vehicle's automatic driving mode is switched to manual driving mode, allowing the user to take over the vehicle at the target marker point.

4. The method according to claim 1, characterized in that, The environment map includes a drivable area and one or more of the following elements: Road topology boundaries, static obstacles, and dynamic obstacles.

5. The method according to claim 1, characterized in that, The step of controlling the vehicle to reverse based on the environmental map and the driving parameters includes: If the reversing command does not indicate a reversing destination, the vehicle is controlled to reverse to the starting point of the previously traversed section of the road, based on the environmental map and the driving parameters. And / or, Based on the driving parameters, the opposite driving parameters are determined. The reverse driving parameters are corrected according to the environmental map. The vehicle's gear shifting and / or speed and / or steering wheel angle are controlled according to the corrected reverse driving parameters to control the vehicle's reversing.

6. The method according to claim 1, characterized in that, The method further includes: during the reversing process of the vehicle, in response to receiving a takeover command input by the user, switching the vehicle's automatic driving mode to manual driving mode; And / or, The method further includes: if the length of the traversed road segment exceeds a preset length threshold, deleting the earliest generated traversed road segment in the environmental map, so that the environmental map retains the traversed road segments corresponding to the length threshold.

7. A reversing assist control device for a vehicle, characterized in that, include: The module includes an information acquisition module, an environmental map generation module, and a control module. The information acquisition module, in response to the vehicle entering a road with a width less than or equal to a preset width threshold, collects environmental information of the road and driving parameters of the vehicle in real time. The environmental map generation module generates an environmental map of the route already traveled based on the real-time collected environmental information and driving parameters, and displays the environmental map on the vehicle display screen. The control module, in response to receiving a reversing command input by the user on the environmental map, controls the vehicle to reverse according to the environmental map and the driving parameters.

8. An electronic device for reversing assist control of a vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in claims 1-6.

9. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in claims 1-6.

10. A vehicle, characterized in that, include: The reversing assist control device for a vehicle as described in claim 7 or the electronic device for reversing assist control as described in claim 8.

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