WO2024031453A1 - Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur - Google Patents

Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur Download PDF

Info

Publication number
WO2024031453A1
WO2024031453A1 PCT/CN2022/111522 CN2022111522W WO2024031453A1 WO 2024031453 A1 WO2024031453 A1 WO 2024031453A1 CN 2022111522 W CN2022111522 W CN 2022111522W WO 2024031453 A1 WO2024031453 A1 WO 2024031453A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
target area
tracking error
path
Prior art date
Application number
PCT/CN2022/111522
Other languages
English (en)
Chinese (zh)
Inventor
蒋拯民
李慧云
张明宇
桑明
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2022/111522 priority Critical patent/WO2024031453A1/fr
Publication of WO2024031453A1 publication Critical patent/WO2024031453A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

Definitions

  • the present application belongs to the field of control technology, and in particular relates to a vehicle control method, device, terminal equipment and computer-readable storage medium.
  • One purpose of the embodiments of the present application is to provide a vehicle control method, device, terminal equipment and computer-readable storage medium.
  • a vehicle control method including:
  • the vehicle is controlled to park out of the target area along the parking path according to the steering wheel angle.
  • the target area includes a plurality of first position points, and during the process of parking the vehicle into the target area, recording the parking path of the vehicle into the target area includes:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained.
  • the parking path is generated based on the posture transformation data of the vehicle between each two adjacent first position points and the position coordinates of each first position point.
  • obtaining the parking position of the vehicle during the process of parking the vehicle out of the target area includes:
  • determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
  • the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area
  • the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path;
  • the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • determining the steering wheel angle based on the position deviation between the preview point and the parked position includes:
  • the steering wheel angle is determined based on the first front wheel angle.
  • determining the steering wheel angle based on the position deviation between the parking position and the parking path includes:
  • the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point
  • the second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the functional relationship between the tracking error and the vehicle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the steering wheel angle is determined based on the second front wheel angle.
  • the method further includes:
  • the vehicle During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  • a vehicle control device including:
  • a path recording unit used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area
  • a position acquisition unit configured to acquire the parking position of the vehicle in real time during the vehicle parking out of the target area
  • An angle calculation unit configured to determine the steering wheel angle based on the position deviation between the parking position and the parking path
  • a vehicle control unit is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the above first step is implemented.
  • the vehicle control method according to any one of the aspects.
  • embodiments of the present application provide a computer-readable storage medium.
  • Embodiments of the present application provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and the computer program is processed.
  • the controller is executed, the vehicle control method as described in any one of the above first aspects is implemented.
  • embodiments of the present application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the vehicle control method described in any one of the above first aspects.
  • the beneficial effect of the vehicle control method provided by the embodiment of the present application is that since the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, then recording the path is equivalent to saving a reference path. When the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area. When the vehicle enters an unknown narrow area and cannot exit by turning around, the above method can automatically control the vehicle to return along the original road.
  • Figure 1 is a schematic diagram of the composition of a vehicle control system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.
  • Figure 3 is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application.
  • Figure 4 is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application.
  • Figure 5 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 6 is a structural block diagram of a vehicle control device provided by an embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the term “if” may be interpreted as “when” or “once” or “in response to determining” or “in response to detecting” depending on the context. ". Similarly, the phrase “if determined” or “if [the described condition or event] is detected” may be interpreted, depending on the context, to mean “once determined” or “in response to a determination” or “once the [described condition or event] is detected ]” or “in response to detection of [the described condition or event]”.
  • the application background of the embodiments of this application is introduced.
  • the autonomous driving function often becomes powerless. In this case, it is usually switched to manual driving mode, with the driver controlling the vehicle to reverse. This method relies heavily on the driver's ability to control the vehicle.
  • the driver is inexperienced or has a visual blind spot, a collision accident is likely to occur.
  • Existing autonomous driving functions are less intelligent and cannot meet the driving needs in unknown and narrow areas.
  • embodiments of the present application provide a vehicle control method.
  • the parking path is recorded; when the vehicle needs to park out of the unknown narrow area, the parking path is recorded in real time based on the position deviation between the parking position and the recorded parking path.
  • the vehicle control system may include an information acquisition layer, a control layer and an execution layer. Each layer can be connected through CAN bus communication.
  • the information acquisition layer sends the acquired data about vehicle driving to the control layer.
  • the control layer plans the driving path (such as the parking path and the parking path) and the required control amount based on the received data.
  • the execution layer controls the vehicle.
  • the relevant devices execute planned control quantities.
  • the information acquisition layer can include various sensors, such as wheel speed sensors, transmission control units, steering wheel angle sensors, obstacle detection sensors, and vision sensors.
  • the wheel speed sensor is used to obtain the rotation speed of the non-driven wheels on both sides of the vehicle, and then average the speed to obtain the midpoint speed of the rear axle.
  • the transmission control unit is used to obtain the forward/reverse gear position of the vehicle.
  • the steering wheel angle sensor is used to obtain the steering wheel angle.
  • Obstacle detection sensors (such as cameras, radars, etc.) are used to detect obstacles around the vehicle.
  • Vision sensors are used to obtain environmental information during driving (such as three-dimensional point clouds, two-dimensional images, etc.).
  • the control layer can include positioning calculation module, power-off storage module, data recording module, human-computer interaction module, forward control module, backward control module, actuator handshake module and obstacle alarm module, etc.
  • the positioning calculation module is used to calculate the parking position of the vehicle, including the parking positioning unit and the parking positioning unit.
  • the forward control module is used to calculate a forward control strategy, such as the forward error feedback tracking strategy described in the following embodiments.
  • the retreat control module is used to calculate a retreat control strategy, such as the retreat preview tracking strategy described in the following embodiments.
  • the execution layer can include power steering (EPS, Electric Power Steering), human-machine interaction interface (HMI, Human Machine Interface) and driving operating devices (such as gear shifters, brake devices, throttles, etc.).
  • EPS Electric Power Steering
  • HMI Human Machine Interface
  • driving operating devices such as gear shifters, brake devices, throttles, etc.
  • FIG. 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.
  • the method may include the following steps:
  • the target area in the embodiment of the present application may refer to a narrow area where the vehicle cannot turn around.
  • the driving path can be recorded in real time.
  • the latest records overwrite the original records.
  • the vehicle's return path i.e., the parking out path
  • the latest parking path is the latest parking path. Therefore, through this method, it can not only ensure that the driving data is not lost, but also ensure that the recorded parking path can be called when the vehicle retreats.
  • the recording function can be enabled by the user through the HMI.
  • the user sends an opening instruction to the execution layer through HMI, and the execution layer sends the opening instruction to the control layer.
  • the human-computer interaction module in the control layer instructs the data recording module to record the driving data received from the information acquisition layer.
  • the above two recording methods can be interchanged.
  • the driving path is recorded in real time; when the user turns off the recording function through the HMI, the control layer stops recording the driving path.
  • the driving path is not recorded by default; when the user turns on the recording function through the HMI, the control layer begins to record the driving path.
  • the target area includes a plurality of first location points.
  • Ways of recording parking routes can include:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud calculates the pose transformation data of the vehicle between every two adjacent first position points; based on the pose transformation data of the vehicle between every two adjacent first position points , and the position coordinates of each first position point to generate the parking path.
  • One way of setting the first position point is: every time the vehicle's driving distance reaches a preset distance, it reaches a first position point. For example, when the vehicle travels more than 10cm, it reaches a first position point, records the effective position coordinates and three-dimensional point cloud of the first position point, and stores the current gear information.
  • Another way to set the first position point is to set the recording period in advance, and record a first position point every interval of recording period during the driving time of the vehicle. For example, when the vehicle's driving speed is greater than 10 miles and less than 20 miles, a first position point is recorded every 10 seconds; when the vehicle's driving speed is greater than 20 miles but less than 30 miles, a first position point is recorded every 5 seconds; and so on, for Different vehicle speeds set different recording periods.
  • the three-dimensional point cloud may be obtained through lidar.
  • 3D point clouds can also be acquired through cameras mounted on vehicles. For example, select a camera (or binocular camera, or depth camera) with intersecting fields of view on the car body, and calibrate its parameters in advance; during driving, use the calibrated camera to obtain a three-dimensional point cloud of the environment. Each time a first position point is reached, a frame of three-dimensional point cloud is obtained, that is, two adjacent frames of three-dimensional point cloud correspond to two adjacent first position points.
  • Use matrix decomposition such as SVD decomposition
  • the parking trajectory can be obtained based on the pose transformation data between adjacent position points obtained in sequence.
  • the recorded parking path may refer to the recorded discrete data, including the position coordinates of each of the plurality of first position points, and the posture transformation between each two adjacent position points. data.
  • the recorded parking path may also be a curve, which is fitted based on the respective position coordinates of the plurality of first position points and the posture transformation data between each two adjacent position points.
  • the gear information of the vehicle at each first location point can also be recorded.
  • reverse gear is recorded as -1 and non-reverse gear is recorded as 1.
  • different forward gears can also be recorded as different data, such as first gear as 1, second gear as 2, and so on.
  • the recording form of gear information is not specifically limited here. The purpose of recording the gear information is to adjust different control strategies during the subsequent process of parking the vehicle out of the target area.
  • S102 During the process of parking the vehicle out of the target area, obtain the parking location of the vehicle in real time.
  • the pose information of the vehicle is calculated in real time, and the pose information is recorded as the parking position of the vehicle.
  • the specific method is as follows:
  • v r is the rear axle midpoint speed
  • ⁇ is the yaw angular velocity
  • R is the turning radius
  • ⁇ f is the front wheel turning radius
  • L is the wheelbase.
  • ⁇ is unknown data
  • R and L are known parameters of the vehicle
  • ⁇ f and v r are data that can be obtained through sensors.
  • i is the angular transmission ratio of the steering wheel.
  • T s is the discrete calculation period (the time interval between each two adjacent position points), ⁇ k and ⁇ k are the yaw angular velocity and heading angle at k time respectively, x k and y k are k time respectively.
  • the vehicle speed is not constant, and there is a certain amount of noise in the vehicle speed and yaw angular velocity data. If the above calculation method is followed, the calculated parking position will be less accurate.
  • the above calculated pose information is subjected to data filtering processing, and the filtered pose information is recorded as the parking position.
  • the extended Kalman filter can be used for data filtering. Specifically, on the basis of the above steps (1) and (2), the filtering process of step (3) is added, as follows:
  • v x, k+1 , v y, k+1 are the horizontal and longitudinal vehicle speeds at k+1 time respectively
  • a x and a y are the horizontal and longitudinal accelerations respectively
  • W and V are the process noise and measurement noise respectively.
  • W is the given data
  • V is equivalent to the matrix composed of ⁇ calculated by the above steps.
  • noisy data can be effectively filtered and positioning accuracy can be effectively improved.
  • S103 Determine the steering wheel angle according to the position deviation between the parking position and the parking path.
  • the recorded parking path can be regarded as a reference path.
  • Existing navigation methods can be used to calculate the position deviation between the parking position and the reference path to determine the steering wheel angle, thereby controlling the vehicle.
  • S104 Control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • the vehicle control method further includes: if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, then based on The gear position of the vehicle is switched according to the gear position information corresponding to the current position of the vehicle.
  • the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path.
  • the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area.
  • the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
  • step S103 when the vehicle is parking out of the target area, whether it is moving forward or backward, the same algorithm can be used to calculate the steering wheel angle.
  • the parking path is divided into forward and backward segmented paths, and different algorithms are set for different segmented paths.
  • S103 may include the following steps:
  • gear position information corresponding to the parking position of the vehicle, wherein the gear position information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area.
  • the recorded parking path may refer to the recorded discrete data, or may also be a fitted curve.
  • the position point in the parking path that matches the parking out position can be a first position point closest to the parking out position.
  • the position point in the parking path that matches the parking out position can be a position point closest to the fitted curve (this position point does not necessarily have to be the first location point).
  • the gear information corresponding to the parking out position is the gear information of the first position point.
  • the parking path can be divided into a forward sub-path and a backward sub-path according to the gear information corresponding to each first position point, and then Determine whether the parking position belongs to the forward sub-path or the backward sub-path, and thereby determine the gear information corresponding to the parking position.
  • the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path. .
  • step II the gear information indicates forward movement.
  • step II may include:
  • the steering wheel angle is determined based on the first front wheel angle.
  • Figure 3 is a geometric schematic diagram of the backward preview tracking algorithm provided by the embodiment of the present application.
  • the preview point starts from the center of the rear axle of the vehicle and the distance to the parking path is l d (Default) point.
  • the lateral distance from the center of the vehicle's rear axle to the preview point (g x , g y ) is defined as the first lateral tracking error e ld .
  • the triangular geometric relationship is:
  • the vehicle front wheel rotation angle can be calculated in real time based on the first lateral tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
  • the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the first lateral tracking error in real time based on the received data, and then According to the first lateral tracking error and the first control law, the first front wheel angle is calculated in real time, converted into a steering wheel angle, and sent to the execution layer; the execution layer controls the steering wheel rotation according to the received steering wheel angle, and obtains the information according to the layer Real-time feedback of steering wheel angle data determines whether the steering wheel is turned in place.
  • the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • step III may include:
  • the angular tracking error representing the angular difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point
  • the second front wheel rotation angle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the functional relationship between the tracking error and the vehicle is calculated according to the second lateral tracking error, the angular tracking error and a second control law, wherein the second control law represents the second lateral tracking error, the angular tracking error and the second control law.
  • the steering wheel angle is determined based on the second front wheel angle.
  • FIG 4 is a geometric schematic diagram of the forward error feedback tracking algorithm provided by the embodiment of the present application.
  • the distance from the center of the vehicle's front axle to the desired trajectory is defined as the second lateral tracking error e f .
  • ⁇ and ⁇ c are respectively
  • the heading angle during the berthing process and the heading angle recorded in the berthing path are combined with the above two equations to obtain the second control law:
  • ⁇ 2 is the second front wheel rotation angle of the vehicle.
  • the XY coordinate system shown in Figure 4 can be set based on the parking starting position point.
  • the subsequent data calculated in real time are based on the departure starting position.
  • ⁇ c is equivalent to the heading angle change value of the vehicle at the current position relative to the parking starting position.
  • the second front wheel rotation angle can be calculated in real time based on the second lateral tracking error, angular tracking error and related data. Since there is a certain conversion relationship between the vehicle's front wheel angle and the steering wheel angle, the steering wheel angle can be determined based on the calculated vehicle's front wheel angle.
  • the information acquisition layer sends the rear axle midpoint speed, the position coordinates of the current position and the vehicle attitude data obtained in real time to the control layer; the control layer calculates the second lateral tracking error and angle in real time based on the received data.
  • the tracking error is then calculated in real time based on the second lateral tracking error, angular tracking error and the first control law, and is converted into a steering wheel angle and sent to the execution layer; the execution layer calculates the steering wheel angle according to the received steering wheel angle.
  • the steering wheel angle controls the rotation of the steering wheel, and whether the steering wheel is rotated in place is determined based on the steering wheel angle data fed back in real time by the information acquisition layer.
  • the parking path is divided into a forward sub-path and a backward sub-path according to the change of the gear position.
  • FIG 5 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the vehicle backs up and parks into the target area.
  • the vehicle is parking out of the target area, just control the vehicle to call the forward strategy to park out.
  • the application scenario (b) in Figure 5 in this application scenario, when the vehicle is parking into the target area, it first moves forward from the parking starting point to the shifting position, then switches to the reverse gear, and continues from the parking starting point. The shift position is reversed to reach the parking end point.
  • the forward strategy is first called to control the vehicle to park from the parking end point to the shift position, the gear is switched to the reverse gear at the shift position, and then the backward strategy is called to control the vehicle from the shift position. Park out to the parking start point.
  • control system can prompt the user to complete parking through the HMI to instruct the user to switch to manual driving mode.
  • the parking path of the vehicle into the target area is a completed path, it means that the path can ensure traffic, so recording the path is equivalent to saving a reference path.
  • the vehicle needs to park out of the target area, it is equivalent to using the recorded parking path as a reference path to control the vehicle to park into the target area.
  • the above method can automatically control the vehicle to return along the original road, improving the intelligence of autonomous driving.
  • the parking path is divided into forward and backward segmented paths, and different control algorithms are set for different segmented paths. It effectively improves the calculation accuracy of the reverse disc rotation angle, thereby improving the vehicle control accuracy.
  • sequence number of each step in the above embodiment does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
  • FIG. 6 is a structural block diagram of the vehicle control device provided by the embodiment of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown.
  • the device includes:
  • the path recording unit 61 is used to record the parking path of the vehicle into the target area during the process of parking the vehicle into the target area;
  • the position acquisition unit 62 is used to obtain the parking position of the vehicle in real time during the process of parking the vehicle out of the target area;
  • Angle calculation unit 63 configured to determine the steering wheel angle according to the position deviation between the parking position and the parking path;
  • the vehicle control unit 64 is configured to control the vehicle to park out of the target area along the parking path according to the steering wheel angle.
  • the target area includes multiple first location points
  • the path recording unit 61 is also used to:
  • a three-dimensional point cloud representing the environment where the first position point is located and the position coordinates of the first position point are obtained; according to The three-dimensional point cloud of a plurality of first position points calculates the pose transformation data of the vehicle between each two adjacent first position points; according to the position of the vehicle between each two adjacent first position points, The position transformation data between the position points and the position coordinates of each first position point generate the parking path.
  • the location acquisition unit 62 is also used to:
  • the pose information of the vehicle is calculated in real time; the pose information is subjected to data filtering processing to obtain the parking position.
  • the angle calculation unit 63 is also used to:
  • the gear information represents the gear position of the vehicle when it passes the parking position during the process of parking into the target area; if If the gear information indicates forward, the steering wheel angle is determined based on the position deviation between the preview point and the parking position, where the preview point is the position point in the parking path; if the If the gear information indicates reverse, the steering wheel angle is determined based on the position deviation between the parking position and the parking path.
  • the angle calculation unit 63 is also used to:
  • the error and the first control law calculate the first front wheel angle, wherein the first control law represents the functional relationship between the first lateral tracking error and the front wheel angle of the vehicle; according to the first front wheel angle Determine steering wheel angle.
  • the angle calculation unit 63 is also used to:
  • Calculate a second lateral tracking error wherein the second lateral tracking error represents the distance from the center of the front axle of the vehicle at the parking position to the parking path; calculate an angular tracking error, the angle The tracking error represents the angle difference between the heading angle of the vehicle at the parked position and the heading angle of the vehicle at the second position point; according to the second lateral tracking error, the angle tracking The tracking error and the second control law calculate the second front wheel angle, wherein the second control law represents the functional relationship between the second lateral tracking error, the angular tracking error and the front wheel angle of the vehicle; The steering wheel angle is determined based on the second front wheel angle.
  • vehicle control unit 64 is also used for:
  • the vehicle During the process of parking the vehicle out of the target area, if the gear information corresponding to the current position of the vehicle is different from the gear information corresponding to the previous position, the vehicle will switch according to the gear information corresponding to the current position of the vehicle. The gear of said vehicle.
  • vehicle control device shown in Figure 6 can be a software unit, a hardware unit, or a unit that combines software and hardware built into the existing terminal equipment. It can also be integrated into the terminal equipment as an independent pendant. It can also be Exists as an independent terminal device.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.
  • the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application.
  • For the specific working processes of the units and modules in the above system please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
  • Figure 7 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.
  • the terminal device 7 of this embodiment includes: at least one processor 70 (only one is shown in Figure 7), a memory 71, and a processor stored in the memory 71 and capable of processing in the at least one processor 70.
  • the computer program 72 runs on the processor 70. When the processor 70 executes the computer program 72, the steps in any of the above vehicle control method embodiments are implemented.
  • the terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc.
  • the terminal device may include, but is not limited to, a processor and a memory.
  • FIG. 7 is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used. , for example, it may also include input and output devices, network access devices, etc.
  • the so-called processor 70 can be a central processing unit (Central Processing Unit, CPU), and the processor 70 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 71 may be an internal storage unit of the terminal device 7 in some embodiments, such as a hard disk or memory of the terminal device 7 . In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital card equipped on the terminal device 7. (Secure Digital, SD) card, flash card (Flash Card), etc. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store operating systems, application programs, boot loaders, data and other programs, such as program codes of the computer programs. The memory 71 can also be used to temporarily store data that has been output or is to be output.
  • an external storage device of the terminal device 7 such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital card equipped on the terminal device 7. (Secure Digital, SD) card, flash card (Flash Card),
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps in each of the above method embodiments can be implemented.
  • Embodiments of the present application provide a computer program product.
  • the steps in each of the above method embodiments can be implemented when the terminal device executes it.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • this application can implement all or part of the processes in the methods of the above embodiments by instructing relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program When executed by a processor, the steps of each of the above method embodiments may be implemented.
  • the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form.
  • the computer-readable medium may at least include: any entity or device capable of carrying computer program code to a device/terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media.
  • ROM read-only memory
  • RAM Random Access Memory
  • electrical carrier signals telecommunications signals
  • software distribution media For example, U disk, mobile hard disk, magnetic disk or CD, etc.
  • computer-readable media may not be electrical carrier signals and telecommunications signals.
  • the disclosed apparatus/terminal equipment and methods can be implemented in other ways.
  • the device/terminal equipment embodiments described above are only illustrative.
  • the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components can be combined or can be integrated into another system, or some features can be omitted, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Sont divulgués dans la présente demande un procédé et un appareil de commande de véhicule, un dispositif terminal et un support de stockage lisible par ordinateur. Le procédé de commande de véhicule consiste : pendant le processus d'une entrée de stationnement d'un véhicule dans une zone cible, à enregistrer un trajet d'entrée de stationnement du véhicule entrant en stationnement dans la zone cible ; pendant le processus de sortie de stationnement du véhicule de la zone cible, à acquérir une position de sortie de stationnement du véhicule en temps réel ; à déterminer un angle de volant de direction en fonction de l'écart de position entre la position de sortie de stationnement et le trajet d'entrée de stationnement ; et à commander, en fonction de l'angle de volant de direction, le véhicule pour sa sortie de stationnement de la zone cible le long du trajet de traction. Au moyen du procédé, un véhicule peut être automatiquement commandé pour revenir le long d'un trajet d'origine, ce qui permet d'améliorer le degré d'intelligence de conduite autonome.
PCT/CN2022/111522 2022-08-10 2022-08-10 Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur WO2024031453A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/111522 WO2024031453A1 (fr) 2022-08-10 2022-08-10 Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/111522 WO2024031453A1 (fr) 2022-08-10 2022-08-10 Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur

Publications (1)

Publication Number Publication Date
WO2024031453A1 true WO2024031453A1 (fr) 2024-02-15

Family

ID=89850217

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/111522 WO2024031453A1 (fr) 2022-08-10 2022-08-10 Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur

Country Status (1)

Country Link
WO (1) WO2024031453A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103946101A (zh) * 2011-11-14 2014-07-23 罗伯特·博世有限公司 用于确定泊出轨迹的方法和装置
EP3418160A1 (fr) * 2017-05-31 2018-12-26 Valeo Schalter und Sensoren GmbH Stationnement à partir d'un niveau de bordure de trottoir
CN112224198A (zh) * 2020-09-15 2021-01-15 华人运通(上海)自动驾驶科技有限公司 车位泊出方法、装置、车辆及存储介质
CN113561965A (zh) * 2021-08-06 2021-10-29 上汽通用五菱汽车股份有限公司 车辆控制方法、车辆及计算机可读存储介质
CN114312757A (zh) * 2021-12-22 2022-04-12 华人运通(上海)自动驾驶科技有限公司 一种基于四轮转向的泊车规划方法、车辆
CN114516322A (zh) * 2022-02-24 2022-05-20 重庆长安汽车股份有限公司 一种车辆泊出的***、方法、车辆及计算机存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103946101A (zh) * 2011-11-14 2014-07-23 罗伯特·博世有限公司 用于确定泊出轨迹的方法和装置
EP3418160A1 (fr) * 2017-05-31 2018-12-26 Valeo Schalter und Sensoren GmbH Stationnement à partir d'un niveau de bordure de trottoir
CN112224198A (zh) * 2020-09-15 2021-01-15 华人运通(上海)自动驾驶科技有限公司 车位泊出方法、装置、车辆及存储介质
CN113561965A (zh) * 2021-08-06 2021-10-29 上汽通用五菱汽车股份有限公司 车辆控制方法、车辆及计算机可读存储介质
CN114312757A (zh) * 2021-12-22 2022-04-12 华人运通(上海)自动驾驶科技有限公司 一种基于四轮转向的泊车规划方法、车辆
CN114516322A (zh) * 2022-02-24 2022-05-20 重庆长安汽车股份有限公司 一种车辆泊出的***、方法、车辆及计算机存储介质

Similar Documents

Publication Publication Date Title
JP7136997B2 (ja) ターゲット位置の選択による自動後退
EP3016836B1 (fr) Système de commande de véhicule
EP3016835B1 (fr) Système de commande de véhicule
JP6748212B2 (ja) 標的物を必要としないヒッチ角度検出およびトレーラ形状学習を有する車両−トレーラ後退システム
EP2988973B1 (fr) Systeme assistance a l'attelage de vehicule
CN111344165B (zh) 挂车长度检测***
EP3744616B1 (fr) Dispositif et procédé pour déplacer en marche arrière une combinaison de véhicule articulée
US11603100B2 (en) Automated reversing by following user-selected trajectories and estimating vehicle motion
GB2513392A (en) System for a towing vehicle
CN115303262A (zh) 车辆控制方法、装置、终端设备及计算机可读存储介质
CN111522350B (zh) 感知方法、智能控制设备及自动驾驶车辆
CN111547049A (zh) 车辆泊车入位的控制方法、装置及车辆
US11912360B2 (en) Vehicle control method, vehicle control system, and vehicle
US9925978B2 (en) Vehicle pivot technique
WO2024031453A1 (fr) Procédé et appareil de commande de véhicule, dispositif terminal et support de stockage lisible par ordinateur
US20240123991A1 (en) Trailer reverse with automated free-space guidance
KR102259603B1 (ko) 차량 간 거리 산출 장치 및 방법
CN114670834A (zh) 倒车控制方法、装置及存储介质
CN116166011A (zh) 车辆引导方法、装置、车辆及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22954428

Country of ref document: EP

Kind code of ref document: A1