CN114516323A

CN114516323A - Backing-up assisting method and device for vehicle and vehicle

Info

Publication number: CN114516323A
Application number: CN202011309460.4A
Authority: CN
Inventors: 王晢; 吴柏富; 萨沙·韦伯; 亚历山大·佩施
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2022-05-20

Abstract

The disclosure relates to a vehicle backing assisting method and device and a vehicle. The method comprises the following steps: recording a dynamic travel track not greater than a first length during forward travel of the vehicle, wherein the dynamic travel track is a track along which the vehicle travels to a current position, and the dynamic travel track is a track ahead of the reference point by the first length with the current position of the vehicle as the reference point; under the condition that the vehicle determines to back up, automatically controlling the vehicle to back up along the dynamic running track from the current position; in the process of backing up, under the condition that the dynamic driving track is detected to be blocked by a first object, determining a new backing up route, wherein the new backing up route is superposed with the dynamic driving track after bypassing the first object; and backing the car along the new backing route.

Description

Backing-up assisting method and device for vehicle and vehicle

Technical Field

The embodiment of the disclosure relates to the technical field of vehicle control, in particular to a reversing auxiliary method and equipment for a vehicle and the vehicle.

Background

When driving a vehicle, a driver inevitably encounters a drift and a narrow road, and if the situation of backing up the vehicle occurs, the driver needs to concentrate on manually backing up the vehicle. At this time, if the size of the vehicle is large or the traffic condition is complicated, the difficulty coefficient of the backing operation of the driver is increased undoubtedly; the vehicle may collide with objects outside the vehicle, even causing casualties and property loss.

In order to ensure smooth backing of a vehicle, it is necessary to provide a new backing assistance solution for a vehicle to solve at least one technical problem in the prior art.

Disclosure of Invention

An object of the disclosed embodiment is to provide a new technical scheme for assisting the backing of a vehicle.

According to a first aspect of embodiments of the present disclosure, there is provided a method of assisting backing of a vehicle, the method comprising: recording a dynamic travel track not greater than a first length during forward travel of the vehicle, wherein the dynamic travel track is a track along which the vehicle travels to a current position, and the dynamic travel track is a track ahead by the first length from a reference point with the current position of the vehicle as the reference point; under the condition that the vehicle determines to back up, automatically controlling the vehicle to back up along the dynamic running track from the current position; in the process of backing up, under the condition that the dynamic driving track is detected to be blocked by a first object, determining a new backing up route, wherein the new backing up route is superposed with the dynamic driving track after bypassing the first object; and backing up along the new backing up route.

Optionally, backing up along the new backing up route comprises: controlling a speed control and steering mechanism of the vehicle to bypass the first object in the new reverse route.

Optionally, in case it is detected that the dynamic driving trajectory is blocked by a second object, braking is automatically performed to stop reversing.

Optionally, the second object is less than a predetermined distance from the vehicle or the vehicle cannot bypass the second object.

Optionally, automatically controlling the vehicle to reverse along the dynamic travel trajectory from the current position comprises: controlling the vehicle to reverse along the dynamic driving trajectory at a speed less than the first speed.

Optionally, in the case that the current reverse position is detected to deviate from the dynamic running track, automatically controlling the vehicle to return to the dynamic running track.

Optionally, recording a dynamic travel track of no more than a first length during forward travel of the vehicle comprises: and recording the dynamic running track under the condition that the running speed of the vehicle is less than the second speed.

Alternatively, the second speed is 60 km/h.

Optionally, the first length is 100 meters.

Alternatively, during forward travel of the vehicle, when it is detected that there is another vehicle traveling in reverse ahead of the vehicle, and in a case where the current road does not satisfy that the vehicle passes through simultaneously with the other vehicle, it is determined to reverse.

According to a second aspect of the present disclosure, there is also provided a reverse assistance device for a vehicle, characterized by comprising means for performing the steps of the method according to any one of the first aspects of the present disclosure. The reverse assist apparatus for a vehicle includes: the recording module is used for recording a dynamic running track with the length not greater than the first length during the forward running of the vehicle; the control module is used for automatically controlling the vehicle to back up along the dynamic running track from the current position under the condition that the vehicle determines to back up; the detection module is used for detecting whether the dynamic driving track is blocked by a first object or not; a determination module for determining a new reverse route in case the dynamic driving trajectory is blocked by a first object.

Optionally, the vehicle reverse aid comprises a processor and a memory, the memory storing executable instructions that, when the reverse aid is operated, control the processor to perform a method according to any one of the first aspect of the present disclosure.

According to a third aspect of the present disclosure, there is also provided a vehicle comprising a reverse assistance apparatus according to the second aspect of the present disclosure.

One advantageous effect of the embodiments of the present disclosure is that, in backing according to a dynamic driving trajectory recorded in advance, when it is detected that the dynamic driving trajectory is blocked by a first object, a new backing route is determined.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a block diagram of an example of one implementation environment and hardware configuration for a method of reverse assistance for a vehicle that is capable of implementing an embodiment of the present invention;

FIG. 2 is a schematic flow diagram of a method of reverse assist of a vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow diagram of a method of reverse assist for a vehicle according to another embodiment of the present disclosure;

FIG. 4 is a schematic flow diagram of a method of reverse assist of a vehicle according to another embodiment of the present disclosure;

FIG. 5 is a schematic flow chart diagram of a method of reverse assist for a vehicle according to another embodiment of the present disclosure;

FIG. 6 is a flow chart diagram of a method of reverse assist of a vehicle according to another embodiment of the present disclosure;

FIG. 7 is a schematic flow chart diagram of a method of reverse assist for a vehicle according to another embodiment of the present disclosure;

FIG. 8 is a block diagram of a reverse aid according to one embodiment;

FIG. 9 is a schematic illustration of a vehicle according to one embodiment.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< hardware configuration >

Fig. 1 is a schematic diagram of an electronic control structure of a vehicle that can be used to implement the reverse assist method of the embodiment of the present disclosure.

The vehicle shown in fig. 1 is any motor vehicle, and is not limited herein. It includes a processor 1100, a memory 1200.

The processor 1100 is a main component of an Electronic Control Unit (ECU) of a vehicle, and is used to execute a computer program, which may be written using an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, or the like.

The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like, for storing the above computer programs and the like.

In this embodiment, the memory 1200 is used to store a computer program for controlling the processor 1100 to operate so as to execute the reverse assist method for a vehicle according to the embodiment of the present disclosure. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

Although a plurality of devices of the vehicle are shown in fig. 1, the vehicle of the embodiment of the present disclosure may only refer to some of the devices, and may also have other devices, which are not limited herein.

< method examples >

Fig. 2 shows a reverse assistance method for a vehicle according to an embodiment, and the steps of the reverse assistance method for a vehicle according to the embodiment are described by taking the vehicle in fig. 2 as an example, where the vehicle determines that the reverse assistance is required at any time.

As shown in fig. 2, the reverse assist method for a vehicle of the embodiment may include steps S201 to S204 of:

step S201, in the case that the backing assistance is needed, recording a dynamic running track with a length not greater than a first length during the forward running of the vehicle. Also, the dynamic travel track is a track along which the vehicle travels to the current position.

Optionally, in this embodiment, the first length is 100 meters.

Optionally, in this embodiment, the dynamic running track is recorded when the running speed of the vehicle is less than the second speed.

Alternatively, the second speed is 60 km/h.

And step S202, under the condition that the vehicle determines to back up, automatically controlling the vehicle to back up along the dynamic running track from the current position.

In this embodiment, when determining to reverse, the vehicle will first reverse according to the pre-stored dynamic driving track not greater than the first length recorded during the forward driving of the vehicle.

Optionally, the vehicle is controlled to reverse along the dynamic driving trajectory at a speed less than the first speed. An embodiment of this part is shown in fig. 5. Steps S501-S502 are the same as steps S201-S202, and are not described here. And S503, controlling the vehicle to back up along the dynamic running track at a speed less than the first speed. The first speed is not particularly limited herein, and may be, for example, 10km/h in a range of safe driving.

Step S203, in the process of backing up, under the condition that the dynamic running track is detected to be blocked by the first object, determining a new backing up route.

In the embodiment, in the process of backing, the vehicle can detect whether obstacles exist around the dynamic running track at any time, and if the dynamic running track stored in advance by the vehicle is blocked by the first object, the vehicle needs to determine a new backing route again in order to avoid unnecessary collision.

Furthermore, the new reverse path coincides with the dynamic driving trajectory after bypassing the first object.

And step S204, backing up along the new backing up route.

As can be seen from the above steps S201 to S204, in the method for assisting in backing up a vehicle of the present embodiment, when determining that the backing up assistance is required, the processor 1100, 2100, or 3100 records a dynamic travel trajectory having a length not greater than the first length during forward travel of the vehicle, where the dynamic travel trajectory is a trajectory along which the vehicle travels to the current position and is a trajectory forward from the reference point by the first length with the current position of the vehicle as a reference point; under the condition that the vehicle determines to back up, automatically controlling the vehicle to back up along the dynamic running track from the current position; in the process of backing up, under the condition that the dynamic driving track is detected to be blocked by a first object, determining a new backing up route, wherein the new backing up route is superposed with the dynamic driving track after bypassing the first object; and backing up along the new backing up route. Therefore, the smooth backing of the vehicle can be ensured, and the collision between the vehicle door and an object outside the vehicle can be prevented.

A specific example is given in fig. 3 as to how the vehicle can be backed up along the new reverse route.

As shown in fig. 3, the reverse assist method for a vehicle of this embodiment may include steps S301 to S305 of:

steps S301 to S304 correspond to steps S201 to S204, and are not described herein again.

Step S305, controlling a speed control and steering mechanism of the vehicle to bypass the first object with the new reverse route.

In this embodiment, by controlling the speed and steering of the vehicle, the vehicle can travel along the new reverse route more accurately, while bypassing the first object, avoiding collision therewith, and finally coinciding with the dynamic travel trajectory.

As can be seen from the above steps S301 to S305, in the method for assisting in reversing a vehicle of this embodiment, when it is determined that the reversing assistance is required, the processor 1100, after having executed the steps S301 to S304 (or S201 to S204), controls the speed control and steering mechanism of the vehicle to reverse along the new reversing route so as to bypass the first object along the new reversing route. The method for assisting the vehicle in backing can reduce the risk of collision with an object outside the vehicle in the process of backing to the maximum extent.

In a third embodiment, as shown in FIG. 4, steps S401-S403 are included.

The judgment of steps S401-S402 is consistent with steps S201-S202, and will not be described again.

And S403, in the process of backing up, under the condition that the dynamic running track is detected to be blocked by a second object, automatically braking to stop backing up.

In this embodiment, compared to the foregoing step S303, the distance from the second object to the vehicle is less than the predetermined distance or the vehicle cannot bypass the second object; in order to prevent the vehicle from colliding with the second object to the maximum extent, the vehicle is automatically braked to stop backing up.

As can be seen from the above steps S401-S403, when it is detected that the dynamic travel track is blocked by the second object while backing up along the dynamic travel track, the vehicle is automatically braked to stop backing up. In this case, the distance between the second object and the vehicle is too short, the vehicle cannot plan a new reversing route to bypass the second object, the vehicle is automatically braked to stop reversing, collision between the vehicle and the second object can be avoided, the technical scheme is favorable for reducing collision to the maximum extent, and the technical scheme of reversing assistance is executed again after the obstacle of the second object is eliminated.

It should be noted that, during the process of backing up the vehicle according to the dynamic driving track, the vehicle inevitably deviates from the established driving track. In order to ensure that the vehicle can be backed up as safely as possible, it is necessary to provide a technical solution for automatically correcting the route. Fig. 6 shows a specific embodiment.

The embodiment of fig. 6, includes steps S601-S603.

Step S603, in the process of backing up, under the condition that the current backing-up position is detected to deviate from the dynamic running track, automatically controlling the vehicle to return to the dynamic running track.

According to the steps S601-S603, when backing along the dynamic running track, it is necessary to continuously detect whether the current backing position deviates from the dynamic running track, and when detecting that the current backing position deviates from the dynamic running track, automatically controlling the vehicle to return to the dynamic running track. The technical scheme is favorable for ensuring that the vehicle backs along the dynamic running track as much as possible, thereby further improving the technical effect of the technical scheme.

The reversing auxiliary technology related by the technical scheme has a wide application range, and at least can comprise the following situations: firstly, in most cases, a backing auxiliary technology is needed in the parking process; secondly, when two vehicles meet on a narrow street, but the width of the current street is not enough to enable the two vehicles to run side by side, at least one vehicle needs to back to another spacious space, and therefore smooth avoidance is achieved. Fig. 7 shows a specific embodiment.

The embodiment of fig. 7, includes steps S701-S703.

In step S701, during forward traveling of the vehicle, it is detected that there is another vehicle traveling in the reverse direction ahead of the vehicle.

When the vehicle is in the forward driving process, in order to ensure the driving safety, the vehicle can continuously detect whether obstacles exist around.

Step S702, the current road does not satisfy the condition that the vehicle and the other vehicles pass through simultaneously.

When other vehicles running in the reverse direction are detected in front of the vehicle, the vehicle acquires data of the current road, the vehicle and other vehicles, and accordingly whether the vehicle and the other vehicles are allowed to pass through the current road at the same time is judged.

And step S703, determining to back up.

If the current road conditions do not allow the vehicle to pass by with the other vehicles at the same time, the vehicle determines to reverse.

As can be seen from the above steps S701-S703, during forward driving of the vehicle, it is detected that there is another vehicle traveling in reverse in front of the vehicle, and if the current road cannot allow the vehicle to pass through simultaneously with the other vehicle, it is determined to reverse. According to the technical scheme, timely detection and avoidance are facilitated, the vehicle is prevented from colliding with a vehicle running in the reverse direction during the forward running period, and the technical effect of the technical scheme is further improved.

< apparatus embodiment >

FIG. 8 illustrates a reverse assist apparatus for a vehicle, according to one embodiment, including: a recording module 801 for recording a dynamic driving trajectory of no more than a first length during forward driving of the vehicle; a control module 802, configured to automatically control the vehicle to back up along the dynamic driving trajectory from a current position when the vehicle determines to back up; a detecting module 803, configured to detect whether the dynamic driving trajectory is blocked by a first object; a determining module 804, configured to determine a new reverse route if the dynamic driving trajectory is blocked by the first object.

A recording module 801 for recording a dynamic driving trajectory not greater than a first length during forward driving of the vehicle.

A control module 802, configured to automatically control the vehicle to back up along the dynamic driving trajectory from a current position when the vehicle determines to back up; may also be used to control a speed control and steering mechanism of the vehicle to bypass the first object in the new reverse route; controlling the vehicle to reverse along the dynamic travel trajectory at a speed less than the first speed, and the like.

A detecting module 803, configured to detect whether the dynamic driving trajectory is blocked by a first object; and is further operable to detect whether the dynamic travel path is obstructed by a second object; detecting whether the current backing position deviates from the dynamic running track; detecting whether there is another vehicle traveling in reverse in front of the vehicle, or the like.

A determining module 804, configured to determine a new reverse route if the dynamic driving trajectory is blocked by the first object.

< vehicle embodiment >

Fig. 9 shows a schematic structural diagram of a vehicle that can be used to implement the reverse assist method of the vehicle of the embodiment of the present disclosure.

Embodiments of the present invention further provide a vehicle 900, where the vehicle 900 may be the vehicle 2000 or the vehicle 3000 shown in fig. 1.

In one embodiment, as shown in fig. 9, the vehicle 900 may include a processor 910, a memory 920. The memory 920 is used for storing computer instructions, and the processor 910 is used for executing the vehicle control method disclosed according to any embodiment under the control of the computer instructions.

In this embodiment, the modules in the above embodiments may be implemented by the processor 910 executing the computer instructions.

The vehicle may have other hardware structures similar to the vehicle in fig. 1, and is not limited herein.

The vehicle may have the reverse assist apparatus of fig. 8, which is not limited herein.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Implementation in hardware, implementation in software, and implementation in a combination of software and hardware are all equivalent as known to those skilled in the art.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method of reverse assist for a vehicle, comprising:

recording a dynamic travel track not greater than a first length during forward travel of the vehicle, wherein the dynamic travel track is a track along which the vehicle travels to a current position, and the dynamic travel track is a track ahead by the first length from a reference point with the current position of the vehicle as the reference point;

under the condition that the vehicle determines to back up, automatically controlling the vehicle to back up along the dynamic running track from the current position;

in the process of backing up, under the condition that the dynamic driving track is detected to be blocked by a first object, determining a new backing up route, wherein the new backing up route is superposed with the dynamic driving track after bypassing the first object; and

and backing up along the new backing up route.

2. The method of claim 1, wherein backing up along the new backing up route comprises:

controlling a speed control and steering mechanism of the vehicle to bypass the first object in the new reverse route.

3. The method of claim 1, further comprising:

and under the condition that the dynamic running track is detected to be blocked by a second object, automatically braking to stop reversing.

4. The method of claim 3, wherein the second object is less than a predetermined distance from the vehicle or the vehicle cannot bypass the second object.

5. The method of claim 1, wherein automatically controlling the vehicle to reverse along the dynamic travel trajectory from a current position comprises:

controlling the vehicle to reverse along the dynamic driving trajectory at a speed less than the first speed.

6. The method of claim 1, further comprising:

and under the condition that the current backing position deviates from the dynamic running track, automatically controlling the vehicle to return to the dynamic running track.

7. The method of claim 1, wherein recording a dynamic driving trajectory of no more than a first length during forward driving of the vehicle comprises:

and recording the dynamic running track under the condition that the running speed of the vehicle is less than the second speed.

8. The method of claim 1, wherein the second speed is 60 km/h.

9. The method of claim 1, wherein the first length is 100 meters.

10. The method of claim 1, wherein during forward travel of the vehicle, when it is detected that there is another vehicle traveling in reverse ahead of the vehicle, and in the event that the current road does not satisfy the vehicle passing the other vehicle at the same time, determining to reverse.

11. A reverse aid for a vehicle comprising means for performing the steps in the method according to any one of claims 1-10.

12. A reverse assist device for a vehicle comprising a processor and a memory, the memory storing executable instructions that, when the reverse assist device is operated, control the processor to perform the method of any of claims 1 to 10.

13. A vehicle comprising a reverse assistance apparatus according to claim 11 or 12.