A tracking reverse control method, electronic device and vehicle

Abstract

The application provides a tracking reverse control method, an electronic device and a vehicle. In the case that the vehicle is in tracking reverse, the vehicle transverse is controlled according to the vehicle surrounding environment information to realize obstacle avoidance. The technical problem that the conventional tracking reverse cannot realize obstacle avoidance in the related art is solved.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to a reversing control method, electronic equipment, and vehicle. Background Technology

[0002] The reverse tracking (also known as the return-to-original-path) function allows drivers to reverse back along the original path when they need to turn around in a narrow space or on a narrow road.

[0003] However, conventional reversing technology mainly relies on recording the vehicle's trajectory during its forward movement and returning along the original path. It cannot avoid obstacles, which can lead to low traffic efficiency or even traffic congestion. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a reversing control method, electronic equipment, and vehicle. This solution achieves obstacle avoidance by controlling the vehicle's lateral movement based on information about the surrounding environment while the vehicle is reversing. This solution, by controlling the vehicle's lateral movement based on information about the surrounding environment to achieve obstacle avoidance, can accurately avoid obstacles around the vehicle, thereby improving the traffic efficiency of the road and reducing traffic congestion.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application provides a reversing control method, comprising: when the vehicle is in reversing mode, controlling the vehicle to move laterally based on the surrounding environment information of the vehicle to achieve obstacle avoidance.

[0007] In some embodiments of this application, controlling the vehicle to move laterally based on the surrounding environment information to achieve obstacle avoidance includes: if an obstacle is detected behind the vehicle and the conditions for vehicle lateral movement are met, then controlling the vehicle to move laterally to achieve obstacle avoidance.

[0008] In some embodiments of this application, controlling the vehicle to move laterally based on the surrounding environment information to achieve obstacle avoidance includes: if an obstacle is detected behind the vehicle and the conditions for vehicle lateral movement are met, then controlling the vehicle to move laterally to achieve obstacle avoidance.

[0009] In some embodiments of this application, satisfying the vehicle lateral movement condition includes: the existence of a target space within a set range in the lateral direction of the vehicle.

[0010] In some embodiments of this application, the step of controlling the vehicle to move laterally to avoid an obstacle when an obstacle is detected behind the vehicle and the conditions for lateral movement are met includes: controlling the vehicle to stop when an obstacle is detected on the road where the vehicle is located; and controlling the vehicle to move laterally to the target space when a target space is detected within a set range laterally of the vehicle.

[0011] In some embodiments of this application, controlling the vehicle to move laterally to the target space includes: controlling the vehicle to rotate and move laterally along a planned target path into the target space based on the vehicle's multi-motor independent drive system until it avoids obstacles.

[0012] In some embodiments of this application, the method further includes: if the obstacle behind the vehicle disappears, controlling the vehicle to activate reverse lateral movement to return to the reversing path and continue reversing along the original path.

[0013] In some embodiments of this application, if there are no obstacles behind the vehicle or the conditions for lateral movement of the vehicle are not met, the environment around the vehicle is continuously monitored.

[0014] In some embodiments of this application, the method further includes: after the lateral movement avoidance function of the vehicle is activated, recording the lateral movement trajectory of the vehicle.

[0015] In some embodiments of this application, the lateral trajectory includes a target position, and the method further includes: when the vehicle passes the target position again after activating the tracking reversing function, controlling the vehicle based on whether there are obstacles on the vehicle's travel path.

[0016] In some embodiments of this application, controlling the vehicle based on whether there is an obstacle on the road in which the vehicle is traveling includes: if it is determined that there is an obstacle on the road in which the vehicle is traveling, controlling the vehicle to move laterally and then continue reversing; or, if it is determined that there is no obstacle on the road in which the vehicle is traveling, controlling the vehicle to continue reversing.

[0017] Secondly, a tracking reversing control system includes: a controller configured to control the vehicle to move laterally based on information about the vehicle's surrounding environment to achieve obstacle avoidance when the vehicle is in tracking reversing control mode.

[0018] Secondly, the system also includes radar and / or cameras configured to detect information about the environment surrounding the vehicle.

[0019] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the computer to perform the method described in the first aspect.

[0020] Fourthly, this application provides a computer program product that stores instructions which, when executed by a computer, cause the computer to perform the method described in the first aspect.

[0021] Fifthly, this application provides an electronic device, comprising: a memory having a computer program stored thereon; and a processor for executing the computer program in the memory to implement the method as described in the first aspect.

[0022] In a sixth aspect, this application provides a vehicle comprising: an electronic device as described in the fourth aspect; or, a processor configured to perform the method as described in the first aspect.

[0023] The advantages and control methods of the vehicle and electronic equipment compared to the prior art are the same, and will not be elaborated here.

[0024] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0027] Figure 1 This is a schematic flowchart of a reversing control method based on an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of lateral movement avoidance provided according to an embodiment of the present invention;

[0029] Figure 3 It is based on the embodiments of the present invention. Figure 2 A flowchart illustrating the lateral movement avoidance method;

[0030] Figure 4 This is a schematic diagram of lateral trajectory recording provided according to an embodiment of the present invention;

[0031] Figure 5 It is based on the embodiments of the present invention. Figure 4 A flowchart illustrating the method for recording lateral trajectory.

[0032] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0034] Conventional reversing technology relies mainly on recording the vehicle's trajectory while it is moving forward and returning along the original path. It cannot avoid obstacles, which can lead to low traffic efficiency or even traffic congestion.

[0035] To address this issue, the present invention proposes a reversing control method, electronic device, and vehicle. This solution, while the vehicle is in reversing mode, controls the vehicle's lateral movement based on information about its surrounding environment to achieve obstacle avoidance. This method, by controlling the vehicle's lateral movement based on information about its surrounding environment to achieve obstacle avoidance, can accurately avoid obstacles around the vehicle, thereby improving the traffic efficiency of the road and reducing traffic congestion.

[0036] The present invention will now be described in further detail with reference to the embodiments.

[0037] like Figure 1 The diagram shown is a schematic flowchart of a line-following reversing control method provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0038] 101. When the vehicle is reversing along a track, control the vehicle to move laterally based on the surrounding environment information to avoid obstacles.

[0039] In the above embodiments, by introducing lateral avoidance capability during the reversing process, the limitations of traditional systems—which can only reverse along the original trajectory and stop upon encountering an obstacle—are overcome. This allows the vehicle to actively seek and utilize lateral space to avoid obstacles when it is blocked from behind, significantly improving maneuverability and safety in narrow environments. This function is particularly crucial in scenarios such as roadside parking in cities, underground garage exits, reversing between two vehicles, and narrow roads in urban villages, avoiding inefficient operations that require manual intervention due to immobility.

[0040] As an optional implementation, step 101 above, which controls the vehicle to move laterally based on the surrounding environment information to achieve obstacle avoidance, specifically includes the following: 101a. If an obstacle is detected behind the vehicle and the conditions for vehicle lateral movement are met, then the vehicle is controlled to move laterally to achieve obstacle avoidance.

[0041] In the above embodiments, the system does not trigger lateral movement immediately upon detecting any object behind it. Instead, it uses a dual-condition judgment to ensure the necessity and safety of the action. The obstacle behind must be a continuously existing entity with a distance less than a safety threshold to avoid misjudging pedestrians or birds that are passing by briefly. At the same time, it must be confirmed that there is sufficient space laterally before lateral movement can be initiated to prevent collisions caused by blind movement when there is no usable space.

[0042] For example, the lateral movement condition of the vehicle in 101a above includes: there is a target space within a set range in the lateral direction of the vehicle.

[0043] The aforementioned set range can be defined as the area formed by extending a set distance to both the left and right sides and the front and rear sides of the vehicle.

[0044] For example, the range can be dynamically calculated based on the actual dimensions of the vehicle (including width and / or length) and the minimum safe lateral clearance (e.g., 0.3 meters). This set range can ensure that after the vehicle moves laterally to the target space, obstacles (e.g., other vehicles) in front of or behind the vehicle can be completely offset from the vehicle in the lateral direction, thereby avoiding relative collisions between the vehicle and obstacles in front of or behind the vehicle.

[0045] The target space mentioned above must satisfy the following conditions: its length is greater than or equal to the length of the vehicle, and its width is greater than or equal to the width of the vehicle.

[0046] For example, the system performs distortion correction and semantic segmentation on fisheye images captured by a reversing camera to identify static obstacles such as road edges, adjacent vehicle outlines, curbs, and cones. Simultaneously, an ultrasonic sensor scans the obstacle distances at various points within a set range at a certain frequency, constructing a lateral spatial continuity heatmap. This determination mechanism ensures that the lateral movement path is physically feasible, thereby achieving lateral obstacle avoidance.

[0047] As an optional implementation, step 101a above specifically includes the following: 101a1, when an obstacle is detected on the road where the vehicle is located, the vehicle is controlled to stop; and 101a2, when a target space is detected within a set range on the lateral side of the vehicle, the vehicle is controlled to move laterally to the target space.

[0048] In the above embodiment, the system employs a "stop-then-move" logic: when a rear obstacle is confirmed as valid (e.g., distance < 1.2 meters and duration > 500 ms), the controller immediately sends an emergency braking command to the braking system, bringing the vehicle to a complete stop and ensuring the lateral movement begins at a stationary state. Subsequently, the system initiates a lateral space scan, fusing the semantic segmentation results from the camera with the ultrasonic ranging data to generate a high-precision lateral topology map. The lateral movement control module is activated only after the target space is confirmed to be usable, avoiding the risk of sideslip or loss of control caused by lateral displacement during movement, thus meeting the functional safety requirements of the standard.

[0049] Further, optionally, the step 101a2 above, controlling the vehicle to move laterally to the target space, includes: controlling the vehicle to rotate and move laterally along the planned target path into the target space based on the vehicle's multi-motor independent drive system until it avoids obstacles.

[0050] In the above embodiment, the vehicle is equipped with a dual-motor independent drive system on both the front and rear axles, supporting four-wheel torque vector control. The lateral movement path is generated by the controller based on the vehicle dynamics model, and trajectory planning algorithms such as fifth-order polynomial curve fitting can be used to ensure smooth trajectory and continuous acceleration. For example, the target point of the path can be set to "0.5 meters behind the center of the target space", and the path includes an initial lateral displacement segment and an end rotation correction segment. When the target space is on the left, the system increases the drive torque of the right front wheel and the left rear wheel, and decreases the torque of the left front wheel and the right rear wheel, forming differential lateral movement, causing the vehicle to move to the left with a slight counterclockwise rotation, achieving an "oblique lateral movement" trajectory. This method reduces tire lateral sliding friction, reduces energy consumption and wear, and improves control accuracy. Lateral movement continues until the vehicle's center of gravity is completely moved out of the projection area of ​​the rear obstacle, and the angle between the vehicle body and the original reversing path returns to within ±5°, at which point the system automatically stops lateral movement and enters the subsequent reversing stage.

[0051] Furthermore, the method also includes: during the vehicle avoidance process, the system continuously monitors the environment around the vehicle.

[0052] In the above embodiments, the system continuously monitors the vehicle's surrounding environment throughout the avoidance process, thereby ensuring driving safety.

[0053] As an optional implementation, the above method also includes: 101b, if the obstacle behind the vehicle disappears, control the vehicle to activate reverse lateral movement to return to the tracking reversing path and continue to track reversing along the original path.

[0054] In the above embodiment, after the lateral movement avoidance is completed, the system continuously monitors the status of obstacles behind. If the obstacle (such as a parked vehicle behind) begins to move and leaves the safe area, the controller recalls the previously recorded reverse trajectory of the lateral movement path and controls the four motors to output symmetrical reverse torque, enabling the vehicle to accurately return to the center line of the original reversing path along the original path. For example, during the return process, the system synchronously corrects the heading angle to ensure that the vehicle's axis is parallel to the original trajectory after the return, with an error of ≤2°. This function automates the entire process of "avoidance—return—continue reversing," avoiding the tedious manual realignment of the path required in traditional systems and improving the continuity of the user experience.

[0055] As an optional implementation, if there are no obstacles behind the vehicle or the conditions for lateral movement are not met, the surrounding environment of the vehicle is continuously monitored.

[0056] In the above embodiments, even when no lateral movement condition is triggered, the system maintains sensor data updates at a certain frequency, and the environmental perception module continues to operate, ensuring no perceptible delay. A sliding window algorithm is used to analyze environmental data over a historical set time period (e.g., 5 seconds) to predict obstacle movement trajectories and anticipate whether a reassessment of lateral movement feasibility is necessary. For example, if a lateral target space is occupied by a moving vehicle just before lateral movement, the system can immediately cancel the lateral movement command and maintain a stop, avoiding false triggering. This mechanism endows the system with "forward-looking perception" capabilities, meeting the high real-time response requirements of AEB systems.

[0057] like Figure 2 The diagram illustrates the lateral movement avoidance mechanism provided in this embodiment of the invention. When a user normally activates the tracking reversing function in a narrow passage, and a dynamic obstacle appears on the driving path during the reversing process, the system automatically triggers obstacle avoidance active braking. Upon detecting that there is space to avoid the obstacle on the side, the system automatically activates the lateral movement avoidance function. After detecting that the target obstacle has disappeared, the system automatically activates reverse lateral movement to return to the original reversing trajectory and continue reversing. After activating the lateral movement avoidance mode, the system plans a multi-rotation path and automatically activates the vehicle's multi-motor independent drive system, controlling the vehicle to rotate and laterally move along the planned path into the avoidance space until the obstacle is safely avoided.

[0058] like Figure 3 As shown, this is a method based on an embodiment of the present invention. Figure 2 The flowchart illustrates the lateral obstacle avoidance process. When the tracking reversing system encounters an obstacle during activation, the specific process mainly includes the following:

[0059] 301: When the user activates the reversing system, the vehicle is activated and reverses along the original forward trajectory.

[0060] 302: The system uses the vehicle's radar or cameras to sense information about surrounding obstacles.

[0061] 303: Based on the data monitored by the system, determine whether there are dynamic obstacles on the driving trajectory and whether there is room for avoidance in the lateral direction of the vehicle. If yes, proceed to step 304; otherwise, return to 302.

[0062] 304: If the judgment result is that there is an obstacle and there is lateral space to avoid it, the lateral avoidance will be automatically activated to move the vehicle to the side space.

[0063] 305: The reversing system continuously determines whether the dynamic obstacle has disappeared from the driving trajectory. If yes, proceed to step 305; otherwise, proceed to step 308 and wait until the timeout period expires.

[0064] 306: If the dynamic obstacle has disappeared, the vehicle will automatically reverse and move laterally to return to its original planned trajectory.

[0065] 307: Activate the vehicle and continue reversing along the original reversing path.

[0066] In the aforementioned trial departure scenario, by sensing surrounding information in real time and automatically activating lateral avoidance when an obstacle is detected and there is space to avoid it, driving safety and convenience can be significantly improved. This obstacle avoidance method not only reduces the driver's operational burden in complex road conditions but also enhances the vehicle's autonomous response capability in unexpected situations, making it a highly effective intelligent driving assistance function.

[0067] As an optional implementation, prior to method 101 above, the method further includes: 100, after the vehicle's lateral movement avoidance function is activated, recording the vehicle's lateral movement trajectory.

[0068] In the above embodiments, after the system successfully performs a lateral movement avoidance maneuver, the controller packages and stores information such as the lateral movement trajectory, the coordinates of the target spatial center (a local coordinate system with the vehicle origin as a reference), the lateral movement direction (left / right), the lateral movement distance, the lateral movement time, ambient lighting conditions, and road slope in non-volatile memory, forming a "historical avoidance point record". This record is bound to the geographic coordinates provided by the GPS / SLAM positioning module to construct a "space-behavior" mapping database, providing a data foundation for subsequent intelligent wake-up.

[0069] Further optionally, the lateral trajectory mentioned above includes the target position, and the method mentioned above also includes: A1, when the vehicle passes the target position again after activating the tracking reversing function, controlling the vehicle based on whether there are obstacles on the road the vehicle is traveling.

[0070] In the above embodiments, when a vehicle determines via GPS / SLAM positioning that it has entered a geographical area where lateral movement avoidance has previously occurred (e.g., positioning accuracy ±0.3 meters), the system automatically searches the local database to check if there are historical avoidance records for that location. If so, the system preloads the environmental characteristics of that location (such as obstacle type and lateral movement direction preference) and prioritizes activating the high-sensitivity sensor mode. For example, if historical records show that this location is frequently obstructed when reversing due to vehicles temporarily stopping behind, the system will automatically activate a "lateral movement standby state" 5 meters before entering the area, shortening the response delay and achieving "experience reuse."

[0071] For example, step A1 above, controlling the vehicle based on whether there is an obstacle on the road the vehicle is traveling, specifically includes the following: A11, if it is determined that there is an obstacle on the road the vehicle is traveling, control the vehicle to move laterally and then continue reversing; or, A12, if it is determined that there is no obstacle on the road the vehicle is traveling, control the vehicle to continue reversing.

[0072] In the above embodiments, when revisiting a historical avoidance point, the system first performs a "path reassessment": scanning the distribution of obstacles ahead and behind the current road using cameras and radar. If an obstacle consistent with historical records is detected (such as a parked vehicle in the same location), the system directly triggers a lateral avoidance maneuver, with the lateral movement direction consistent with historical records (e.g., if it moved left last time, it will still move left this time) to maintain behavioral consistency. If the obstacle has been removed, the system skips the lateral movement and reverses directly along the original path. If a new obstacle is detected (such as a temporarily placed trash can), the system replans the lateral movement path based on the current environment, rather than relying on historical data, ensuring real-time decision-making and safety. This dual mechanism balances experience reuse and environmental adaptation, achieving synergistic optimization of "intelligent memory + dynamic response".

[0073] like Figure 4 The diagram illustrates the lateral trajectory recording provided in this embodiment of the invention. When a vehicle is traveling through a narrow passage and encounters an oncoming obstacle, and there is space for the vehicle to laterally maneuver to avoid it, the driver manually activates the lateral obstacle avoidance function. The reversing system automatically records the driver's action of activating the lateral obstacle avoidance function, as well as the position information before and after activation. When the vehicle returns to that position using the lateral obstacle avoidance function, the system determines whether the surrounding obstacle still exists. If the obstacle still exists, the system automatically activates the lateral obstacle avoidance function to bypass it. If the obstacle disappears, the vehicle will replan and follow the optimal path.

[0074] like Figure 5 As shown, this is a method based on an embodiment of the present invention. Figure 4 The flowchart for recording the lateral trajectory. It mainly includes the following:

[0075] 501: When the driver is manually driving in D mode, the reversing system continuously records the trajectory.

[0076] 502: When the driver manually triggers the lateral movement avoidance function, the reversing system will record the lateral movement path.

[0077] 503: The tracking reversing system records the position coordinates before and after the lateral movement is triggered.

[0078] 504: When the driver activates the reverse tracking function, the vehicle will return to the position triggered by the lateral movement.

[0079] 505: Determine if there are obstacles behind you while moving laterally.

[0080] 506: If it is determined that there is still an obstacle behind, the lateral movement avoidance function will be automatically activated to bypass the obstacle.

[0081] 507: If it is determined that the obstacle behind has disappeared, the vehicle will continue to reverse along the remaining trajectory.

[0082] For example, a reversing trajectory function can be integrated into the vehicle's ADS (Adaptive Driving System) to store and update the vehicle's driving trajectory information in real time, ensuring accurate trajectory information is available for reference when vehicle control is needed. While recording the driving trajectory, the driver can manually trigger the lateral movement function to perform obstacle avoidance maneuvers. The reversing trajectory system will automatically record the trigger position of the lateral movement avoidance. When the reversing trajectory returns to that position, it will automatically detect surrounding obstacles. If obstacles still exist, it will automatically activate lateral obstacle avoidance and reverse along the original route.

[0083] In the above embodiments, by recording the vehicle's lateral obstacle avoidance information in real time and activating obstacle avoidance based on the recorded information when reversing is activated, the traffic efficiency of the reversing function can be significantly improved. This obstacle avoidance method not only reduces the driver's operational pressure in complex road conditions but also improves the vehicle's autonomous response capability in sudden situations, making it a very effective intelligent driving assistance function.

[0084] In summary, this invention integrates a tracking and reversing function into the vehicle's ADS (Advanced Driver Assistance System), including lateral trajectory recording and obstacle avoidance. When the system detects that the vehicle is in a narrow passage and there is an oncoming vehicle or obstacle on the planned trajectory, it can automatically perform a lateral avoidance maneuver, helping the vehicle move laterally into a narrow space to avoid obstacles on the planned path. This intelligent driving assistance system greatly expands the application scenarios of tracking and reversing, enhances the vehicle's adaptability and passability in narrow or complex environments, and makes the driving process safer and more efficient. It should be noted that the system continuously records the vehicle's forward lateral movement data to ensure that when reversing is required, the same obstacle may be encountered, preventing the vehicle from returning to the initial position. Simultaneously, for obstacles that suddenly appear during the normal activation of tracking and reversing, the lateral obstacle avoidance capability can also be invoked to perform a temporary lateral avoidance maneuver.

[0085] This application embodiment also provides a tracking reversing control system, which includes: a controller configured to control the vehicle to move laterally based on the surrounding environment information to avoid obstacles when the vehicle is in tracking reversing control mode.

[0086] In the above embodiments, the controller is a domain controller based on a multi-core heterogeneous architecture, integrating an ARM Cortex-A76 application core and a RISC-V real-time core, running a real-time operating system (RTOS). The controller internally features four modular subsystems: environmental perception, path planning, motion control, and decision logic. It communicates with sensors and actuators via high-speed CAN FD and Ethernet buses. Its core functions are: receiving raw data streams from radar, cameras, and ultrasonic sensors; generating an environmental semantic map using a fusion algorithm; calling the lateral movement decision engine to determine if lateral movement conditions are met; generating a lateral movement trajectory and outputting it to the multi-motor independent drive system; and triggering reverse lateral movement regression logic after obstacle avoidance. The controller supports OTA upgrades, allowing remote updates to the obstacle avoidance strategy and path planning model to ensure continuous system evolution.

[0087] For example, the system also includes radar and / or cameras configured to detect information about the environment surrounding the vehicle.

[0088] In the above embodiment, the system is equipped with four millimeter-wave radars (two at the rear and two at the side rear) for long-range dynamic obstacle detection; a rear wide-angle camera supporting HDR and infrared illumination is used for road edge and static obstacle recognition in nighttime and low-light environments; and multiple ultrasonic sensors are integrated into the rear bumper for high-precision ranging at close range (0.2~3m). Radar and camera data are fused using timestamp alignment and Kalman filtering to output a unified 3D obstacle list. Camera images are processed in real-time by a neural network model (such as YOLOv7-tiny) to identify obstacle categories (vehicles, pedestrians, curbs, cones), providing semantic basis for path planning. This sensor combination meets the ASIL-B functional safety level.

[0089] Specifically, this invention includes the following steps: 1. Sensor deployment and data collection: This invention uses devices such as reversing cameras, ultrasonic sensors, and radar to collect information about the vehicle's surrounding environment in real time, including the location and distance of obstacles and road boundaries. Through image processing and sensor data fusion technology, it identifies obstacles and environmental features around the vehicle, such as walls, other vehicles, and pedestrians. 2. Environmental perception and recognition: Through image processing and sensor data fusion technology, it identifies obstacles and environmental features around the vehicle. It monitors environmental changes in front of and behind the vehicle in real time to determine if there are obstacles. 3. Path planning and calculation: Based on the collected data, the system calculates a safe reversing path to ensure the vehicle can smoothly reverse out of its current position (including the vehicle's endpoint and intermediate points). When an obstacle is detected behind, the system determines whether the conditions for lateral movement are met and plans a lateral movement path. 4. Control execution: The system executes the reversing operation through the vehicle's control system (such as the steering system and braking system), automatically adjusting the vehicle's direction and speed to ensure the vehicle safely reverses along the planned path. When the conditions for lateral movement are met, the reversing system directly activates the lateral movement function, allowing the vehicle to move to the limited space on the side of the lane to avoid oncoming vehicles. 5. Real-time adjustment and obstacle avoidance: During reversing, the system continuously monitors changes in the surrounding environment and adjusts the path based on real-time data to cope with unexpected situations, such as temporarily appearing obstacles or pedestrians. When an obstacle is detected behind, the reversing system directly activates the lateral movement function, allowing the vehicle to move to the limited space on the side to avoid the obstacle.

[0090] In summary, the innovative advantages of this invention are as follows: 1. Improved safety: Specifically, in narrow roads, vehicles can quickly avoid obstacles behind them using the lateral movement function, preventing collisions and thus improving vehicle safety in complex environments and reducing the risk of accidents. 2. Improved travel efficiency: Specifically, through the lateral movement function, vehicles can quickly complete avoidance maneuvers, avoiding prolonged congestion and improving traffic efficiency in narrow roads, reducing travel time. 3. Intelligent decision-making: Specifically, the system can automatically identify high-demand scenarios and intelligently activate the lateral movement function, improving user experience. The lateral movement function can also be directly activated for convenient and quick avoidance maneuvers.

[0091] like Figure 6 The above is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. The electronic device 600 includes a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, and a computer program stored in the memory 602 and executable on the processor. The processor 601 and the memory 602 are electrically connected.

[0092] The processor 601 is the control center of the electronic device 600. It connects various parts of the electronic device 600 via various interfaces and lines. By running or loading software programs and / or units stored in the memory 602, and by calling data stored in the memory 602, it executes various functions and processes data of the electronic device 600, thereby providing overall monitoring of the electronic device 600. The processor 601 can be a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a Network Processor (NP), etc., and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0093] In this embodiment of the application, the processor 601 in the electronic device 600 loads the computer program corresponding to the process of one or more applications into the memory 602 according to the method or steps of the above embodiment, and the processor 601 runs the applications stored in the memory 602 to execute the above method.

[0094] According to an embodiment of the present invention, the electronic device, by executing the above-described method, controls the lateral movement of the vehicle based on information about the surrounding environment while the vehicle is in reverse tracking mode to achieve obstacle avoidance. This solution, by controlling the lateral movement of the vehicle based on information about the surrounding environment to achieve obstacle avoidance, can accurately avoid obstacles around the vehicle, thereby improving the traffic efficiency of the road and reducing road congestion.

[0095] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, enables the computer to implement the vehicle control method described above. For example, the computer-readable storage medium may be the aforementioned memory including program instructions, which may be executed by a processor of an electronic device to implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0096] This invention also provides a computer program product storing instructions that, when executed by a computer, cause the computer to implement the vehicle control method described above. For example, when executed by a computer, the instructions implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0097] Embodiments of the present invention also provide a vehicle comprising the electronic equipment described above, or a processor, the processor being used to execute the methods described above. The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this specification does not specifically limit it.

[0098] According to embodiments of the present invention, a vehicle, through an electronic device, system, or controller, executes the above-described method to achieve obstacle avoidance by controlling the vehicle's lateral movement based on information about the vehicle's surrounding environment while the vehicle is in reverse tracking mode. This solution, by controlling the vehicle's lateral movement based on information about the vehicle's surrounding environment to achieve obstacle avoidance, can accurately avoid obstacles around the vehicle, thereby improving the traffic efficiency of the road where the vehicle is located and reducing road congestion.

[0099] The above-described embodiments are only used to illustrate the technical solutions of applying the above methods to vehicles, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the method can also be used in motor vehicles, trains, and ships, etc., without causing the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0100] In one embodiment, the vehicle can be configured for fully or partially autonomous driving. For example, the vehicle can control itself while in autonomous driving mode, and can determine the current state of the vehicle and its surrounding environment through human intervention, determine the possible behaviors of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the probability of that other vehicle performing a possible behavior, and control the vehicle based on the determined information. When the vehicle is in autonomous driving mode, it can be configured to operate without human interaction.

[0101] In the description of this application, 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0102] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," "optional 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 the present invention. 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.

[0103] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0104] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and the parts not described in detail in a certain embodiment can be referred to the relevant embodiments of other embodiments, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A tracking reversing control method, characterized in that, include: When the vehicle is reversing along a track, it can be controlled to move laterally based on the information about the surrounding environment to avoid obstacles.

2. The method according to claim 1, characterized in that, The method of controlling the vehicle to move laterally based on information about the vehicle's surrounding environment to avoid obstacles includes: If an obstacle is detected behind the vehicle and the conditions for lateral movement are met, the vehicle is controlled to lateral move to avoid the obstacle.

3. The method according to claim 2, characterized in that, The condition for satisfying vehicle lateral movement includes: the existence of a target space within a set range in the lateral direction of the vehicle.

4. The method according to claim 3, characterized in that, The step of controlling the vehicle to move laterally to avoid an obstacle when an obstacle is detected behind the vehicle and the conditions for lateral movement are met includes: When an obstacle is detected on the road where the vehicle is located, the vehicle is brought to a stop. And when a target space is detected within a set range in the lateral direction of the vehicle, the vehicle is controlled to move laterally to the target space.

5. The method according to claim 4, characterized in that, The control of the vehicle to move laterally to the target space includes: The vehicle's multi-motor independent drive system controls the vehicle to rotate and laterally move along the planned target path into the target space until it avoids obstacles.

6. The method according to claim 2, characterized in that, The method further includes: If the obstacle behind the vehicle disappears, control the vehicle to activate reverse lateral movement to return to the reversing path and continue reversing along the original path.

7. The method according to claim 2, characterized in that, If there are no obstacles behind the vehicle or the conditions for lateral movement of the vehicle are not met, the environment around the vehicle will be continuously monitored.

8. The method according to claim 1, characterized in that, The method further includes: Once the vehicle's lateral movement avoidance function is activated, the vehicle's lateral movement trajectory is recorded.

9. The method according to claim 8, characterized in that, The lateral trajectory includes the target position, and the method further includes: When the vehicle activates the reversing tracking function and passes the target location again, the vehicle is controlled according to whether there are obstacles on the road it is traveling on.

10. The method according to claim 9, characterized in that, The method of controlling the vehicle based on whether there are obstacles on the road in which the vehicle is traveling includes: If it is determined that there is an obstacle on the road where the vehicle is traveling, the vehicle is controlled to move laterally and then continue to reverse; Alternatively, if it is determined that there are no obstacles on the road the vehicle is traveling on, the vehicle may be controlled to continue reversing.

11. A tracking reversing control system, characterized in that, include: The controller is configured to control the vehicle to move laterally to avoid obstacles when the vehicle is in a reverse driving situation, based on information about the vehicle's surrounding environment.

12. The system according to claim 11, characterized in that, Also includes: Radar and / or cameras are configured to detect information about the environment surrounding the vehicle.

13. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the method of any one of claims 1 to 10.

14. A vehicle, characterized in that, include: The system as described in claim 11 or 12; Or, the electronic device according to claim 13; Alternatively, a processor, said processor being configured to perform the method of any one of claims 1-10.

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