Vehicle reversing methods, devices and storage media

Abstract

This application relates to the field of autonomous driving technology, and in particular to a method, apparatus, and storage medium for a vehicle's reversing trajectory tracking. The method includes: responding to a user's reversing trajectory tracking command, entering a reversing trajectory tracking mode, generating a reversing trajectory tracking path for the vehicle, determining the user's preferred reversing speed, generating a reversing action based on the reversing trajectory tracking path and the preferred reversing speed, and generating at least one optical and / or at least one acoustic reminder based on the vehicle's current state during the reversing action, and using the at least one optical and / or at least one acoustic reminder to provide reversing trajectory tracking interaction to the user. This solves the problems of related technologies where reversing trajectory tracking uses a fixed reversing speed and relies solely on the cockpit display screen to assist user perception, resulting in a disconnect from the user's personalized needs, insufficient user feedback and sense of security, and low actual usage rate of the reversing trajectory tracking function.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus and storage medium for reversing a vehicle by following a trajectory. Background Technology

[0002] Reverse trajectory tracking, as a crucial technology for addressing parking pain points, is gradually becoming an important feature for enhancing vehicle competitiveness. With technological advancements, user demands for autonomous driving functions have shifted from mere functionality to enhanced user experience, with a greater emphasis on safety, responsiveness, and personalized features.

[0003] Among related technologies, for reversing with tracking, some involve using an in-vehicle camera to collect reversing images or panoramic images and outputting them visually through a cockpit display screen to help users perceive the surrounding environment of the vehicle. Others involve using the vehicle's automatic steering and speed control to reduce the difficulty of reversing for users.

[0004] However, in related technologies, the reversing line tracking uses a fixed reversing speed and relies solely on the cockpit display screen to assist user perception, resulting in a disconnect from users' personalized driving needs. Users experience insufficient feedback and a lack of security during use, reducing the actual usage rate of the reversing line tracking function and failing to meet users' demands for an upgraded autonomous driving experience, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method, device, and storage medium for reversing a vehicle using a tracking system, in order to solve the problems in related technologies where the tracking reversing system uses a fixed reversing speed and relies solely on the cockpit display screen to assist the user's perception, resulting in a disconnect from the user's personalized needs, insufficient user feedback and sense of security, and low actual usage rate of the tracking reversing function.

[0006] The first aspect of this application provides a method for reversing a vehicle, comprising the following steps: in response to a user's reversing command, entering a reversing mode and generating a reversing path for the vehicle; determining the user's preferred reversing speed and generating a reversing action for the vehicle based on the reversing path and the preferred reversing speed; during the process of controlling the vehicle to perform the reversing action, generating at least one optical reminder and / or at least one acoustic reminder based on the current state of the vehicle, and using the at least one optical reminder and / or at least one acoustic reminder to perform reversing tracking interaction with the user.

[0007] Based on the above technical means, this application embodiment determines the preferred reversing speed to match the user's driving habits and generates reversing actions, effectively avoiding a disconnect between fixed reversing speeds and user behavior habits, improving the sense of fit and comfort during the driving process. By generating optical and acoustic reminders for user interaction during reversing, it strengthens the user's real-time perception of the vehicle's status, significantly enhancing the sense of safety and feedback during reversing. This effectively increases user trust in the reversing tracking function, improves actual user usage, and meets users' needs for upgraded autonomous driving experiences.

[0008] Optionally, in one embodiment of this application, determining the user's preferred reversing speed includes: collecting the user's historical reversing data; calculating the user's average speed under autonomous reversing behavior based on the historical reversing data; and determining the preferred reversing speed based on the average speed.

[0009] Based on the above technical means, this application embodiment calculates the average speed by collecting the user's historical reversing data, and determines the preferred reversing speed based on the average speed, providing a personalized benchmark for the speed control of vehicle reversing, so that the reversing speed conforms to the user's own reversing driving habits, and avoids driving discomfort caused by excessive speed or slow speed.

[0010] Optionally, in one embodiment of this application, determining the preferred reversing speed based on the average speed includes: determining whether the average speed is greater than or equal to a preset safe speed; when the average speed is greater than or equal to the preset safe speed, using the preset safe speed as the preferred reversing speed; when the average speed is less than the preset safe speed, using the average speed as the preferred reversing speed.

[0011] Based on the above technical means, the embodiments of this application determine whether the average speed is greater than or equal to a certain safe speed, and determine the preferred reversing speed according to the determination result. This not only sets a maximum safety limit for the determination of the preferred reversing speed, thus avoiding the collision risk of reversing from the speed level, but also conforms to the user's reversing driving habits within the safe range, effectively balancing the safety of reversing and driving personalization.

[0012] Optionally, in one embodiment of this application, after generating the reversing tracking path of the vehicle, the method further includes: determining whether there is an obstacle on the reversing tracking path that meets a preset impassable condition; when the obstacle exists, controlling the vehicle to brake, reminding the user, and exiting the reversing tracking mode.

[0013] Based on the above technical means, this application embodiment sets certain impassable conditions for obstacles to brake the vehicle, realizes the pre-accessibility detection of the reversing path, effectively avoids collision risks, improves the safety of reversing, and reminds users to perceive risks in a timely manner, enhances real-time feedback, and effectively alleviates users' safety concerns about autonomous driving.

[0014] Optionally, in one embodiment of this application, during the process of controlling the vehicle to perform the reversing action, the method further includes: detecting whether the user has triggered the brake; if the user is detected to have triggered the brake, exiting the reversing mode and providing a pause reminder to the user.

[0015] Based on the above technical means, this application embodiment exits the reversing mode when the user triggers the brake and provides a pause reminder to the user. On the one hand, it ensures the user's driving control during the reversing process and effectively alleviates the user's concerns about controlling the reversing mode. On the other hand, it promptly provides feedback to the user on the mode exit status, allowing the user to switch to manual control in time and effectively avoid operational misjudgments caused by information lag.

[0016] Optionally, in one embodiment of this application, before using the at least one acoustic reminder to perform reverse tracking interaction with the user, the method further includes: turning off the vehicle's entertainment system; or, generating a volume reduction of the entertainment system based on the at least one acoustic reminder, so as to control the entertainment system to reduce its volume based on the volume reduction.

[0017] Based on the above technical means, the embodiments of this application effectively reduce the interference of audio noise of the entertainment system on the acoustic reminder by turning off the entertainment system before the acoustic reminder is played, or by controlling the volume of the entertainment system to reduce the volume. This avoids the overlap of two audio frequencies, which would prevent the user from clearly capturing the voice feedback information of reversing and tracking. In addition, an appropriate entertainment volume can be maintained as needed, balancing the delivery of the acoustic reminder with the user's entertainment experience.

[0018] A second aspect of this application provides a vehicle reversing device, comprising: a response module, configured to respond to a user's reversing command, enter a reversing mode, and generate a reversing path for the vehicle; a generation module, configured to determine the user's preferred reversing speed, and generate a reversing action for the vehicle based on the reversing path and the preferred reversing speed; and a control module, configured to generate at least one optical reminder and / or at least one acoustic reminder based on the current state of the vehicle during the process of controlling the vehicle to perform the reversing action, and to use the at least one optical reminder and / or at least one acoustic reminder to perform reversing tracking interaction with the user.

[0019] Based on the above technical means, this application embodiment determines the preferred reversing speed to match the user's driving habits and generates reversing actions, effectively avoiding a disconnect between fixed reversing speeds and user behavior habits, improving the sense of fit and comfort during the driving process. By generating optical and acoustic reminders for user interaction during reversing, it strengthens the user's real-time perception of the vehicle's status, significantly enhancing the sense of safety and feedback during reversing. This effectively increases user trust in the reversing tracking function, improves actual user usage, and meets users' needs for upgraded autonomous driving experiences.

[0020] Optionally, in one embodiment of this application, the generation module includes: a collection unit for collecting the user's historical reversing data; a calculation unit for calculating the user's average speed under autonomous reversing behavior based on the historical reversing data; and a determination unit for determining the preferred reversing speed based on the average speed.

[0021] Based on the above technical means, this application embodiment calculates the average speed by collecting the user's historical reversing data, and determines the preferred reversing speed based on the average speed, providing a personalized benchmark for the speed control of vehicle reversing, so that the reversing speed conforms to the user's own reversing driving habits, and avoids driving discomfort caused by excessive speed or slow speed.

[0022] Optionally, in one embodiment of this application, the determining unit includes: a judging subunit, used to judge whether the average speed is greater than or equal to a preset safe speed; a first determining subunit, used to take the preset safe speed as the reversing preferred speed when the average speed is greater than or equal to the preset safe speed; and a second determining subunit, used to take the average speed as the reversing preferred speed when the average speed is less than the preset safe speed.

[0023] Based on the above technical means, the embodiments of this application determine whether the average speed is greater than or equal to a certain safe speed, and determine the preferred reversing speed according to the determination result. This not only sets a maximum safety limit for the determination of the preferred reversing speed, thus avoiding the collision risk of reversing from the speed level, but also conforms to the user's reversing driving habits within the safe range, effectively balancing the safety of reversing and driving personalization.

[0024] Optionally, in one embodiment of this application, it further includes: a judgment module, used to determine whether there is an obstacle on the reversing tracking path that meets a preset impassable condition; and a first braking module, used to control the vehicle to brake when the obstacle exists, and to remind the user to exit the tracking reversing mode.

[0025] Based on the above technical means, this application embodiment sets certain impassable conditions for obstacles to brake the vehicle, realizes the pre-accessibility detection of the reversing path, effectively avoids collision risks, improves the safety of reversing, and reminds users to perceive risks in a timely manner, enhances real-time feedback, and effectively alleviates users' safety concerns about autonomous driving.

[0026] Optionally, in one embodiment of this application, it further includes: a detection module for detecting whether the user triggers the brake; and a second braking module for exiting the reversing mode and providing a pause reminder to the user when the user triggers the brake.

[0027] Based on the above technical means, this application embodiment exits the reversing mode when the user triggers the brake and provides a pause reminder to the user. On the one hand, it ensures the user's driving control during the reversing process and effectively alleviates the user's concerns about controlling the reversing mode. On the other hand, it promptly provides feedback to the user on the mode exit status, allowing the user to switch to manual control in time and effectively avoid operational misjudgments caused by information lag.

[0028] Optionally, in one embodiment of this application, it further includes: a shutdown module for shutting down the vehicle's entertainment system; and a volume reduction module for generating a volume reduction of the entertainment system based on the at least one acoustic alert, so as to control the volume reduction of the entertainment system according to the volume reduction.

[0029] Based on the above technical means, the embodiments of this application effectively reduce the interference of audio noise of the entertainment system on the acoustic reminder by turning off the entertainment system before the acoustic reminder is played, or by controlling the volume of the entertainment system to reduce the volume. This avoids the overlap of two audio frequencies, which would prevent the user from clearly capturing the voice feedback information of reversing and tracking. In addition, an appropriate entertainment volume can be maintained as needed, balancing the delivery of the acoustic reminder with the user's entertainment experience.

[0030] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the vehicle reversing method as described in the above embodiments.

[0031] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle reversing method.

[0032] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the above-described vehicle reversing method.

[0033] This application's embodiments effectively avoid the disconnect between fixed reversing speeds and user habits by determining a preferred reversing speed tailored to the user's driving habits and generating reversing actions. This improves the responsiveness and comfort of the driving process. By generating optical and acoustic alerts for user interaction during reversing, it enhances the user's real-time perception of the vehicle's status, significantly improving the sense of security and feedback during reversing. This effectively increases user trust in the reversing tracking function, improves actual usage, and meets users' demands for an upgraded autonomous driving experience. Therefore, it solves the problems of related technologies where reversing tracking uses a fixed reversing speed and relies solely on the cockpit display for user perception, resulting in a disconnect from personalized user needs, insufficient user feedback and sense of security, and low actual usage of the reversing tracking function.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0036] Figure 1 This is a flowchart of a vehicle reversing method according to an embodiment of this application; Figure 2 This is a schematic diagram of a center console screen for reversing with tracking provided according to an embodiment of this application; Figure 3 This is a block diagram of a vehicle reversing device according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application.

[0037] Figure label: 30 - Vehicle tracking and reversing device; 100 - Response module; 200 - Generation module; 300 - Control module; 401 - Memory; 402 - Processor; 403 - Communication interface. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] The following description, with reference to the accompanying drawings, describes a vehicle reversing method, apparatus, and storage medium according to embodiments of this application. Addressing the issues mentioned in the background art where reversing uses a fixed reversing speed and relies solely on the cockpit display for user perception, resulting in a disconnect from personalized user needs, insufficient user feedback and sense of security, and low actual usage of the reversing function, this application provides a vehicle reversing method. In this method, by determining a reversing speed adapted to the user's driving habits and generating reversing actions, the disconnect between a fixed reversing speed and user behavior is effectively avoided, improving the sense of fit and comfort during driving. Optical and acoustic reminders are generated to provide reversing interaction to the user, enhancing the user's real-time perception of the vehicle's status and significantly improving the sense of security and feedback during reversing. This effectively enhances user trust in the reversing function, increases actual user usage, and meets users' needs for upgraded autonomous driving experiences. This solves the problem that related technologies use a fixed reversing speed and rely solely on the cockpit display screen to assist user perception, resulting in a disconnect from users' personalized needs, insufficient user feedback and sense of security, and low actual usage rate of the reversing function.

[0040] Specifically, Figure 1 This is a flowchart of a vehicle reversing method according to an embodiment of this application.

[0041] like Figure 1 As shown, the vehicle's reversing method includes the following steps: In step S101, in response to the user's reversing command, the vehicle enters the reversing mode and generates a reversing path.

[0042] In the embodiments of this application, the reversing tracking command can be understood as a trigger signal initiated by the user to the vehicle to request the activation of the reversing tracking function. For example, the user issues the reversing tracking command through the physical reversing tracking button on the steering wheel, the reversing tracking touch icon on the central control screen, or by giving the vehicle system a "start reversing tracking" command via voice.

[0043] The reversing tracking mode can be understood as the assisted driving working state that the vehicle enters after receiving the reversing tracking command and performs automatic reversing tracking. For example, in the reversing tracking mode, the vehicle's assisted driving system will take over the automatic control of steering, braking and vehicle speed, and activate environmental perception modules such as vehicle radar and surround view camera, as well as multimodal interactive reminder modules such as voice and optics, so that the user does not need to manually operate the steering wheel.

[0044] The reversing trajectory can be understood as the path generated by the reverse timing processing and curvature smoothing optimization of the path data collected when the vehicle is moving forward, which is used for the vehicle to automatically follow the trajectory when reversing. For example, the vehicle's driver assistance system extracts data such as steering angle, vehicle posture, road environment feature points, and vehicle speed changes recorded when the vehicle is moving forward, and generates a reverse trajectory that matches the forward path through timing reversal, path curvature smoothing, and error correction (controlling the error within ±10 cm).

[0045] In actual implementation, this application embodiment collects and stores path data when the vehicle is moving forward. When the user's reversing command is received, the vehicle enters the reversing mode, and the vehicle's driver assistance system takes over the automatic control of steering, braking and vehicle speed. The vehicle's driver assistance system calls the stored path data and generates a reversing path through time reversal, path curvature smoothing and error correction processing.

[0046] Optionally, in one embodiment of this application, after generating the reversing tracking path of the vehicle, the method further includes: determining whether there is an obstacle on the reversing tracking path that meets the preset conditions for being unable to pass; when there is an obstacle, controlling the vehicle to brake, reminding the user, and exiting the reversing tracking mode.

[0047] In the embodiments of this application, the condition of "certainly cannot pass" can be understood as a scenario condition used to determine whether an obstacle on the reversing tracking path will prevent the vehicle from completing the reversing tracking. For example, for vehicle-type obstacles, the minimum safe distance between the obstacle and the vehicle is set to ≤0.5 m and the obstacle has no room to avoid. For pedestrian obstacles, the distance between the pedestrian and the vehicle is set to ≤1.5 m and the pedestrian does not show any obvious avoidance action when entering the reversing tracking path warning area.

[0048] In actual implementation, after generating the reversing tracking path, this embodiment of the application uses a multi-sensor fusion perception system composed of vehicle-mounted millimeter-wave radar, surround-view cameras, etc., to detect the types of obstacles on the reversing tracking path in real time and match the corresponding judgment logic: For vehicle-type obstacles, its position, movement state, and relative distance to the vehicle are identified. When the minimum safe distance between the vehicle-type obstacle and the vehicle is ≤0.5 m and there is no room for avoidance, it is determined that certain conditions for not being able to pass are met; For pedestrian obstacles, its position, movement trend, and relative distance to the vehicle are identified. When a pedestrian is detected entering the warning area of ​​the reversing tracking path, the distance to the vehicle is ≤1.5 m, and there is no obvious avoidance action, it is determined that certain conditions for not being able to pass are met.

[0049] Furthermore, in this embodiment, after determining that there is an obstacle on the reversing tracking path that meets certain impassable conditions, the vehicle braking control logic is immediately triggered to achieve an emergency stop. At the same time, a red warning box pops up on the reversing image / tracking path display interface through the vehicle display unit, displaying the prompt "Obstacle ahead, impassable, reversing has been paused," and indicating the type of obstacle (vehicle / pedestrian) and its relative distance to the vehicle. In addition, a voice prompt is simultaneously broadcast to the user, "Please note that an obstacle has been found on the reversing tracking path, emergency braking has been initiated, reversing mode has been exited, please manually take over the vehicle." Furthermore, the reversing mode is automatically exited, terminating all subsequent automatic reversing operations.

[0050] This application embodiment sets certain impassable conditions for obstacles to brake the vehicle, realizing advance accessibility detection for reversing path tracking, effectively avoiding collision risks, improving the safety of reversing, and reminding users in a timely manner to perceive risks, enhancing real-time feedback, and effectively alleviating users' safety concerns about autonomous driving.

[0051] In step S102, the user's preferred reversing speed is determined, and the vehicle's reversing action is generated based on the reversing tracking path and the preferred reversing speed.

[0052] In the embodiments of this application, the preferred reversing speed can be understood as a reversing speed that is calculated based on the user's historical reversing data and adapted to the user's driving habits.

[0053] The following details how the embodiments of this application determine the user's preferred reversing speed.

[0054] Specifically, in one embodiment of this application, determining a user's preferred reversing speed includes: collecting the user's historical reversing data; calculating the user's average speed under autonomous reversing behavior based on the historical reversing data; and determining the preferred reversing speed based on the average speed.

[0055] In the embodiments of this application, historical reversing data can be understood as driving data generated by the user during autonomous reversing behavior. For example, it may include, but is not limited to, the real-time speed of the user's autonomous reversing in the last 20 times in scenarios such as garages, residential areas, and narrow alleys, covering speed values ​​at different stages such as reversing start, constant speed reversing, and low-speed avoidance, to provide comprehensive and real raw data for calculating the average speed of the user's autonomous reversing behavior.

[0056] Autonomous reversing behavior can be understood as the user independently completing the reversing operation of the vehicle without the help of vehicle reversing assistance functions such as reversing tracking and automatic parking, and entirely through manual control of the steering wheel, accelerator, and braking system. For example, it may include, but is not limited to, the operation of manually turning the steering wheel to adjust the vehicle angle and lightly pressing the brake to control the reversing speed until the vehicle stops in the parking space when reversing into a parking space, or the operation of manually controlling the vehicle to reverse and avoid obstacles in a narrow alley. This is to ensure that the average speed calculation results can truly reflect the user's reversing driving habits.

[0057] In some cases, embodiments of this application can collect the user's historical reversing data from the past 20 times, extract the real-time vehicle speed from the historical reversing data, such as 2.5 km / h, 2.8 km / h, 3.2 km / h, etc., and then calculate the average value of the real-time vehicle speed as the average speed, such as 2.9 km / h, so as to determine the preferred reversing speed based on the average speed.

[0058] Of course, in some cases, the embodiments of this application can extract the real-time vehicle speed from the historical reversing data, remove the extreme speed data generated by rapid acceleration and deceleration, and obtain the effective vehicle speed. For example, if the collected real-time vehicle speed includes 3 km / h, 3.5 km / h, 8.2 km / h, etc., remove the extreme speed data of 8.2 km / h, and then calculate the average value of the effective vehicle speed as the average speed, such as 4.3 km / h, so as to determine the preferred reversing speed based on the average speed.

[0059] The following details how embodiments of this application determine the preferred reversing speed based on the average speed.

[0060] Specifically, in one embodiment of this application, determining the preferred reversing speed based on the average speed includes: determining whether the average speed is greater than or equal to a preset safe speed; when the average speed is greater than or equal to the preset safe speed, using the preset safe speed as the preferred reversing speed; when the average speed is less than the preset safe speed, using the average speed as the preferred reversing speed.

[0061] In the embodiments of this application, a certain safe speed can be understood as the maximum driving speed limit allowed during the reversing process. For example, those skilled in the art have defined a certain safe speed as 4 km / h for reversing scenarios with narrow roads and limited visibility.

[0062] In some cases, embodiments of this application may have the vehicle driver assistance system calculate the average speed of the user during autonomous reversing, retrieve a pre-calibrated safe speed, and compare the values ​​to determine whether the average speed is greater than or equal to the safe speed. When the average speed is greater than or equal to the safe speed, the safe speed is used as the preferred reversing speed, and when the average speed is less than the safe speed, the average speed is used as the preferred reversing speed.

[0063] This application embodiment determines the preferred reversing speed by judging whether the average speed is greater than or equal to a certain safe speed, and determines the preferred reversing speed based on the judgment result. This sets a maximum safe upper limit for the determination of the preferred reversing speed, avoids the collision risk of reversing from the speed level, and conforms to the user's reversing driving habits within the safe range, effectively balancing the safety of reversing and driving personalization.

[0064] Based on the description of other embodiments, in some cases, the embodiments of this application may have the vehicle assisted driving system collect the user's historical reversing data from the past 20 times and calculate the user's average speed under autonomous reversing behavior. 80% of the average speed is taken as the basic preferred speed. When the basic preferred speed (e.g., 5 km / h) is greater than or equal to a certain safe speed of 4 km / h, 4 km / h is taken as the reversing preferred speed. When the basic preferred speed (e.g., 3 km / h) is less than a certain safe speed of 4 km / h, the basic preferred speed is taken as the reversing preferred speed.

[0065] This application embodiment calculates the average speed by collecting the user's historical reversing data, and determines the preferred reversing speed based on the average speed, providing a personalized benchmark for the speed control of vehicle reversing, so that the reversing speed matches the user's own reversing driving habits, avoiding driving discomfort caused by excessive or insufficient speed.

[0066] In addition, the reversing action can be understood as a set of driving control actions when the vehicle performs a reversing maneuver, combining the reversing tracking path and the preferred reversing speed. For example, the vehicle's driver assistance system breaks down the curvature change and road length of the reversing tracking path into multiple driving nodes, and matches the corresponding steering angle, continuous speed and braking timing for each node with the preferred reversing speed, generating a reversing action of "turning left 5° and maintaining a speed of 2.4 km / h for 3 meters, straightening the steering wheel and maintaining a speed of 2.4 km / h for 5 meters, and lightly braking to reduce speed to 1 km / h to pass through a narrow road section".

[0067] Based on the descriptions of other embodiments, this application embodiment takes a user triggering a line-following reversing maneuver in a narrow alley in a residential area as an example. The vehicle's assisted driving system collects the user's historical reversing data from nearly 30 times in alleys, garages, and other scenarios. After removing extreme values ​​of rapid acceleration / deceleration, the average speed of the user under autonomous reversing behavior is calculated to be 3.5 km / h. 80% of the average speed is taken as the basic preferred speed of 2.8 km / h. Since this value is less than a certain safe speed of 4 km / h, the user's preferred reversing speed is determined to be 3.5 km / h.

[0068] In addition, the reversing tracking path generated by the vehicle's driver assistance system is the reverse trajectory of the user's previous drive from the entrance of the alley into the depths. The entire 12-meter trajectory is broken down into 3 trajectory nodes: the first straight section is 5 meters (no curves in the middle of the alley), the left curve section is 3 meters (curvature of 5° / meter, at the corner of the alley), and the second straight section is 4 meters (the straight section before the entrance of the alley).

[0069] Furthermore, in this embodiment, the vehicle assisted driving system combines a reversing preferred speed of 3.5 km / h with three trajectory nodes, plans specific control parameters for each node, and integrates them into a reversing action: In the first straight section, the vehicle is controlled to straighten its direction and travel at a constant speed of 3.5 km / h for 5 meters without any additional steering action; in the left curve section, the vehicle is controlled to slowly turn the steering wheel to the left by 15° from the end of the first straight section and maintain the steering angle, still traveling at a constant speed of 3.5 km / h for 3 meters to ensure no trajectory deviation during the curve; in the second straight section, the vehicle is controlled to straighten its direction promptly after the curve section ends and continue traveling at a constant speed of 3.5 km / h for 4 meters until reaching the alley entrance.

[0070] In step S103, during the process of controlling the vehicle to perform a reversing action, at least one optical reminder and / or at least one acoustic reminder are generated based on the current state of the vehicle, and the user is interacted with the reversing tracking using at least one optical reminder and / or at least one acoustic reminder.

[0071] In the embodiments of this application, the current state can be understood as the real-time state presented by the vehicle during the reversing action. For example, based on the vehicle's real-time reversing speed, current steering angle, steering wheel return state, braking system working state, the offset between the vehicle's driving trajectory and the reversing tracking path, and whether the vehicle speed is consistent with the preferred reversing speed, the current state can be divided into normal state and abnormal state. This application does not impose specific limitations.

[0072] Optical reminders can be understood as visual reminder information conveyed to the user through an in-vehicle vision display device based on the current state. For example, the reversing image interface of the central control screen dynamically displays the real-time reversing speed and steering angle values ​​of the vehicle. When the trajectory deviates, a yellow deviation warning box pops up. When the vehicle speed exceeds the preferred reversing speed, a red speed reminder mark is displayed. The cabin ambient light adjusts the flashing frequency according to the vehicle's driving stability. This application does not impose specific limitations.

[0073] Acoustic reminders can be understood as voice-based reminders delivered to the user through an in-vehicle voice playback device based on the current status. For example, voice announcements such as "Current reversing speed is 2.8 km / h, consistent with the preferred reversing speed", "Vehicle trajectory is slightly deviating to the left, and is being automatically corrected", "Current steering angle is 15°, driving on a curve", and "Vehicle speed is too high, and has been automatically reduced to the preferred reversing speed" are not specifically limited in this application.

[0074] Reversing trajectory interaction can be understood as a real-time, two-way transmission of status information and operational feedback between the user and the vehicle during the process of controlling the vehicle to perform a reversing action, based on the vehicle's current state to generate optical and acoustic reminders. For example, the vehicle's driver assistance system detects a deviation in the vehicle's trajectory and generates optical and acoustic reminders. After receiving the reminder, the user lightly presses the brake to check the status. The system responds and pauses the reversing action, updating the reminder content to "Vehicle has been paused, trajectory deviation has been corrected".

[0075] In actual implementation, during the process of controlling the vehicle to perform a reversing action, this embodiment of the application acquires real-time reversing speed, current steering angle, trajectory offset, and other current status data of the vehicle at a sampling frequency of 100 ms / time through on-board speed sensors, steering angle sensors, and trajectory matching modules. The data is then integrated and thresholded in real time to determine the current status of the vehicle (e.g., a deviation of the vehicle speed from the preferred reversing speed within ±0.5 km / h is considered a normal state, while deviations beyond this are considered abnormal states). Based on the current status, the vehicle's driver assistance system triggers optical and acoustic reminders to provide the user with reversing tracking interaction.

[0076] The following details how embodiments of this application trigger optical and acoustic alerts based on the current state.

[0077] In this embodiment, when the vehicle is in normal condition, an optical reminder is triggered: the cabin ambient light uses blue light in the 450-475nm wavelength band to remain constantly lit, and flashes at a uniform speed of 18 times per minute. The blue light flashing, which matches the human breathing rhythm, creates a technological and relaxing cabin environment. The central control screen dynamically and clearly displays the vehicle's real-time reversing speed, current steering angle, and other current status values ​​without any additional warning signs, only providing basic feedback on the vehicle's status.

[0078] In this embodiment of the application, when the vehicle is in a normal state, an acoustic reminder is triggered: the current status is announced every 2 seconds with a calm voice broadcast rhythm, such as "Current reversing speed is 2.8 km / h, which is consistent with the preferred reversing speed".

[0079] In this embodiment, when the vehicle is in an abnormal state, an optical warning is triggered: the cabin ambient light maintains a blue light in the 450-475nm wavelength band, and is adjusted accordingly for different abnormal types. The flashing interval is finely adjusted when the vehicle speed fluctuates slightly. When the vehicle triggers braking operation, the ambient light directly returns to the initial state before reversing. The central control screen displays the real-time status values ​​of the vehicle and provides targeted warning feedback. When the trajectory deviates, a yellow deviation warning box pops up. When the vehicle speed exceeds the reversing preferred speed ±0.5 km / h threshold, a red speed warning mark is displayed. The abnormal state of the vehicle is intuitively conveyed through color warnings.

[0080] In this embodiment of the application, when the vehicle is in an abnormal state, an acoustic reminder is triggered: the logic of canceling the 2-second timed broadcast is cancelled, and a smooth voice is immediately triggered to remind the user of the abnormal state, accurately informing the user of the specific type of vehicle abnormality, ensuring that the user is aware of the vehicle abnormality information as soon as possible and can take timely monitoring or takeover actions.

[0081] Optionally, in one embodiment of this application, during the process of controlling the vehicle to perform a reversing action, the method further includes: detecting whether the user has triggered the brake; if the user is detected to have triggered the brake, exiting the reversing mode and providing a pause reminder to the user.

[0082] In the embodiments of this application, the pause reminder can be understood as the feedback information sent by the vehicle's driver assistance system to the user after detecting that the user has triggered the brake and exited the reversing mode, informing the user that the reversing mode has been paused. For example, the central control screen pops up a text prompt box saying "Reversing has been paused, automatic mode has been exited", and the voice immediately announces "Reversing has been paused, please manually take over the vehicle". The cabin ambient lights are simultaneously restored to the initial state before reversing. This application does not impose any specific limitations.

[0083] In actual implementation, the vehicle driver assistance system continuously detects whether the user has triggered the brakes in real time through the brake pedal position sensor and brake pressure sensor, while maintaining automatic control over the vehicle's steering and speed. When the sensor detects the user's brake trigger signal, it immediately exits the reversing mode, quickly cuts off the automatic control of the vehicle's steering and speed, restores the vehicle's manual driving state, and issues a pause reminder to the user through a combination of optical reminders (the central control screen displays a pause prompt, and the ambient lights return to their initial state) and acoustic reminders (real-time voice broadcast of pause information).

[0084] This application embodiment exits the reversing mode when the user triggers the brakes and provides a pause reminder to the user. On the one hand, it ensures the user's driving control during the reversing process and effectively alleviates the user's concerns about controlling the reversing mode. On the other hand, it promptly provides feedback to the user on the mode exit status, allowing the user to switch to manual control in time and effectively avoid operational misjudgments caused by information lag.

[0085] Optionally, in one embodiment of this application, before using at least one acoustic reminder to interact with the user in reversing, the method further includes: turning off the vehicle's entertainment system; or, generating a volume reduction for the entertainment system based on at least one acoustic reminder, so as to control the entertainment system to reduce its volume based on the volume reduction.

[0086] In the embodiments of this application, the entertainment system can be understood as an in-vehicle intelligent system that provides users with audio-visual entertainment services, such as in-vehicle radio, in-vehicle local music playback system, in-vehicle Bluetooth audio playback system, and in-vehicle video playback system. This application does not impose any specific limitations.

[0087] Volume reduction can be understood as controlling the amount by which the in-vehicle entertainment system reduces its volume based on the acoustic prompts. For example, if the original playback volume of the entertainment system is 70%, the system generates a "reduce by 50%" volume reduction based on the acoustic prompts, and the entertainment system adjusts the volume accordingly.

[0088] In some cases, embodiments of this application may have the vehicle's driver assistance system directly issue a shutdown command to the entertainment system, controlling the entertainment system to stop all audio playback operations.

[0089] Of course, in other cases, in the embodiments of this application, the vehicle's driver assistance system generates a matching volume reduction based on the type of acoustic reminder to be issued (timed broadcast in normal state / instant broadcast in abnormal state) and the ambient noise parameters inside the vehicle, and then sends the volume reduction to the entertainment system to control the entertainment system to perform the volume reduction operation according to the parameters.

[0090] Based on the description of the above embodiments, in this embodiment of the application, after the entertainment system is turned off or the volume is lowered, the vehicle's driver assistance system formally triggers and plays the acoustic reminders required for the reversing tracking interaction.

[0091] This application embodiment effectively reduces the interference of audio noise from the entertainment system on the acoustic reminder by turning off the entertainment system before the acoustic reminder is played, or by controlling the volume of the entertainment system to lower the volume. This avoids the overlap of two audio frequencies, which would prevent the user from clearly capturing the voice feedback information of reversing and tracking. In addition, an appropriate entertainment volume can be maintained as needed, balancing the delivery of the acoustic reminder with the user's entertainment experience.

[0092] The principle of the vehicle reversing method proposed in this application is illustrated below with a specific embodiment.

[0093] like Figure 2 The diagram shows a schematic of the central control screen displaying the reversing trajectory tracking feature. In this embodiment, when the vehicle reaches the end of a narrow alley, the user engages reverse gear and triggers the reversing trajectory tracking touch icon on the central control screen. The vehicle's driver assistance system responds to the reversing trajectory tracking command and enters the reversing trajectory tracking mode.

[0094] The vehicle's driver assistance system calls upon the stored path data and generates a reversing tracking path through time reversal, path curvature smoothing, and error correction. At this time, the first prompt box at the top of the central control screen displays a status message: "Reversing in reverse based on the forward route and adjusting the route based on real-time calculations." Simultaneously, a white dynamic reversing tracking path line is drawn in the "Calculate and Recognize Route Vision" area on the left.

[0095] The vehicle's driver assistance system further determines the user's preferred reversing speed: it obtains the user's historical speed data from the past 20 autonomous reversing maneuvers, removes extreme values ​​caused by rapid acceleration and deceleration, and calculates that the user's average autonomous reversing speed is 3.5 km / h. Taking 80% of this average speed (i.e., 2.8 km / h), since 2.8 km / h is less than a certain safe speed of 4 km / h, 2.8 km / h is determined as the user's preferred reversing speed.

[0096] The vehicle's driver assistance system then breaks down the 12-meter reversing path into three nodes: a 5-meter straight section, a 3-meter left-turn section, and a 4-meter straight section. Based on a preferred speed of 2.8 km / h, it generates continuous reversing maneuvers: during the 5-meter straight section, it controls the steering wheel to straighten and maintain a constant speed; during the 3-meter left-turn section, it controls the steering wheel to turn 15° to the left and maintains the steering angle while driving at a constant speed; and during the 4-meter straight section, it straightens the steering wheel and drives at a constant speed to the alley entrance. The vehicle's driver assistance system can then map these action parameters to the central control screen for "calculating and recognizing the route's field of vision."

[0097] During the process of controlling the vehicle to perform a reversing action, the vehicle's driver assistance system uses vehicle speed sensors and steering angle sensors to collect real-time data such as the vehicle's real-time reversing speed, current steering angle, and trajectory deviation at a frequency of 100 ms / time, and triggers optical and acoustic reminders to achieve reversing tracking interaction.

[0098] When the vehicle is in normal condition, the optical reminders are as follows: the cabin ambient lighting uses blue light in the 450-475 nm band and flashes at a constant breathing rate of 18 times per minute; the central control screen continuously displays a white path line in the "Calculated and Recognized Route Vision"; the "Rear Reversing Image Vision", "Rear Left Vision", and "Rear Right Vision" transmit blind spot images in real time and overlay parameters such as the current vehicle speed of 2.8 km / h and the steering angle of 0°; the second prompt box at the top maintains the operation prompt "You can step on the brake pedal or turn the steering wheel to stop the reversing"; and the acoustic reminder announces the vehicle status in a smooth voice every 2 seconds.

[0099] When the vehicle speed fluctuates to 3.4 km / h on a curve (exceeding the threshold of ±0.5 km / h for the preferred reversing speed), the vehicle is in an abnormal state. The optical warning will be as follows: a red speed warning icon will pop up on the central control screen in the "Calculate and Recognize Route Vision" section, and the cabin ambient lights will adjust their flashing interval slightly. The acoustic warning will immediately announce "The vehicle speed is too high and has been automatically adjusted to the preferred reversing speed".

[0100] When the user detects a pedestrian at the entrance of the alley and applies the brakes, the vehicle's driver assistance system immediately exits the reversing mode, and a text prompt box appears on the central control screen saying "Reversing has been paused, automatic mode has been exited," while a voice prompt says "Reversing has been paused, please manually take over the vehicle."

[0101] The vehicle reversing method proposed in this application, by determining a reversing speed adapted to the user's driving habits and generating reversing actions, effectively avoids the disconnect between a fixed reversing speed and user behavior, improving the sense of fit and comfort during the driving process. It also enhances the user's real-time perception of the vehicle's status by generating optical and acoustic reminders, significantly improving the sense of security and feedback during reversing. This effectively increases user trust in the reversing function, improves actual usage, and meets users' needs for upgraded autonomous driving experiences. Therefore, it solves the problems in related technologies where reversing uses a fixed reversing speed and relies solely on the cockpit display screen for user perception, resulting in a disconnect from personalized user needs, insufficient user feedback and sense of security, and low actual usage of the reversing function.

[0102] Next, referring to the accompanying drawings, a vehicle reversing device based on an embodiment of this application is described.

[0103] Figure 3 This is a block diagram of a vehicle reversing device according to an embodiment of this application.

[0104] like Figure 3 As shown, the vehicle's reversing device 30 includes: a response module 100, a generation module 200, and a control module 300.

[0105] The response module 100 is used to respond to the user's reversing command, enter the reversing mode, and generate the vehicle's reversing path.

[0106] The generation module 200 is used to determine the user's preferred reversing speed and generate the vehicle's reversing action based on the reversing tracking path and the preferred reversing speed.

[0107] The control module 300 is used to generate at least one optical reminder and / or at least one acoustic reminder based on the current state of the vehicle during the process of controlling the vehicle to perform a reversing action, and to use at least one optical reminder and / or at least one acoustic reminder to perform reversing tracking interaction with the user.

[0108] Optionally, in one embodiment of this application, the generation module 200 includes: a data acquisition unit and a calculation unit.

[0109] The data acquisition unit is used to collect the user's historical reversing data.

[0110] The calculation unit calculates the user's average speed during autonomous reversing based on historical reversing data. The determination unit determines the preferred reversing speed based on the average speed.

[0111] Optionally, in one embodiment of this application, the determining unit includes: a judging subunit, a first determining subunit, and a second determining subunit.

[0112] The judgment subunit is used to determine whether the average speed is greater than or equal to the preset safe speed.

[0113] The first determining subunit is used to use the preset safe speed as the reversing preferred speed when the average speed is greater than or equal to the preset safe speed.

[0114] The second determining subunit is used to take the average speed as the preferred reversing speed when the average speed is less than the preset safe speed.

[0115] Optionally, in one embodiment of this application, it further includes: a determination module and a first braking module.

[0116] The judgment module is used to determine whether there are obstacles on the reversing tracking path that meet the preset conditions for being unable to pass.

[0117] The first braking module is used to control the vehicle's braking when an obstacle is present, and to alert the user and exit the reversing mode.

[0118] Optionally, in one embodiment of this application, it further includes: a detection module and a second braking module.

[0119] The detection module is used to detect whether the user has triggered the brakes.

[0120] The second braking module is used to exit the reversing mode and remind the user to pause when the user triggers the brake.

[0121] Optionally, in one embodiment of this application, it further includes: a shutdown module and a volume reduction module.

[0122] The shutdown module is used to turn off the vehicle's entertainment system.

[0123] A volume reduction module is used to generate a volume reduction for the entertainment system based on at least one acoustic alert, so as to control the volume reduction of the entertainment system accordingly.

[0124] It should be noted that the foregoing explanation of the vehicle tracking reversing method embodiment also applies to the vehicle tracking reversing device of this embodiment, and will not be repeated here.

[0125] The vehicle reversing device according to the embodiments of this application determines the preferred reversing speed adapted to the user's driving habits and generates reversing actions, effectively avoiding the disconnect between a fixed reversing speed and user behavior habits, improving the sense of fit and comfort during the driving process. It generates optical and acoustic reminders to interact with the user during reversing, strengthening the user's real-time perception of the vehicle's status and significantly improving the sense of safety and feedback during reversing. This effectively enhances the user's trust in the reversing function, increases the actual usage rate, and meets the user's demand for an upgraded autonomous driving experience. Therefore, it solves the problems of related technologies where reversing uses a fixed reversing speed and relies solely on the cockpit display screen to assist user perception, resulting in a disconnect from the user's personalized needs, insufficient user feedback and sense of safety, and low actual usage rate of the reversing function.

[0126] Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. The electronic device may include: The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0127] When the processor 402 executes the program, it implements the vehicle reversing method provided in the above embodiments.

[0128] Furthermore, electronic devices also include: Communication interface 403 is used for communication between memory 401 and processor 402.

[0129] The memory 401 is used to store computer programs that can run on the processor 402.

[0130] Memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0131] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0132] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0133] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0134] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle reversing method.

[0135] This application also provides a computer program product, including a computer program that, when executed, implements the above-described vehicle reversing method.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0138] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0140] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0141] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for reversing a vehicle by following a trajectory, characterized in that, Includes the following steps: In response to the user's reversing command, it enters the reversing mode and generates a reversing path for the vehicle; Determine the user's preferred reversing speed, and generate the vehicle's reversing action based on the reversing tracking path and the preferred reversing speed; During the process of controlling the vehicle to perform the reversing action, at least one optical reminder and / or at least one acoustic reminder are generated based on the current state of the vehicle, and the user is interacted with the reversing tracking using the at least one optical reminder and / or at least one acoustic reminder.

2. The method according to claim 1, characterized in that, Determining the user's preferred reversing speed includes: Collect the user's historical reversing data; Calculate the user's average speed during autonomous reversing based on the historical reversing data; The preferred reversing speed is determined based on the average speed.

3. The method according to claim 2, characterized in that, Determining the preferred reversing speed based on the average speed includes: Determine whether the average speed is greater than or equal to the preset safe speed; If the average speed is greater than or equal to the preset safe speed, then the preset safe speed is taken as the preferred reversing speed; If the average speed is less than the preset safe speed, then the average speed is taken as the preferred reversing speed.

4. The method according to claim 1, characterized in that, After generating the reversing trajectory path of the vehicle, the process also includes: Determine whether there are obstacles on the reversing tracking path that meet preset conditions for being impassable; If the obstacle is present, the vehicle will brake, the user will be alerted, and the reversing mode will be exited.

5. The method according to claim 1, characterized in that, The process of controlling the vehicle to perform the reversing action also includes: Detect whether the user has triggered the brakes; If the system detects that the user has triggered the brakes, it exits the reversing mode and sends a pause reminder to the user.

6. The method according to claim 1, characterized in that, Before using the at least one acoustic prompt to perform a reversing trajectory interaction with the user, the method further includes: Turn off the vehicle's entertainment system; Alternatively, the volume of the entertainment system can be reduced based on the at least one acoustic alert, so as to control the volume of the entertainment system to be reduced based on the volume reduction.

7. A vehicle reversing device with tracking capability, characterized in that, include: The response module is used to respond to the user's reversing command, enter the reversing mode, and generate the vehicle's reversing path; The generation module is used to determine the user's preferred reversing speed and generate the reversing action of the vehicle based on the reversing tracking path and the preferred reversing speed. The control module is used to generate at least one optical reminder and / or at least one acoustic reminder based on the current state of the vehicle during the process of controlling the vehicle to perform the reversing action, and to use the at least one optical reminder and / or at least one acoustic reminder to perform reversing tracking interaction with the user.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, the processor executing the program to implement the reversing method for a vehicle as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the reversing method for a vehicle as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, The computer program is executed to implement the reversing method for a vehicle as described in any one of claims 1-6.

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