The invention provides a backing-up control method and device and a storage medium. Accurate backing-up of a vehicle can be achieved. The method comprises the following steps: acquiring vehicle state information of a target vehicle, wherein the vehicle state information comprises an inertial sensor signal, a wheel speed and a wheel speed direction corresponding to the target vehicle; determining a vehicle control point pose corresponding to the target vehicle according to the vehicle state information; determining an expected trajectory point corresponding to the target vehicle; determining a tracking point corresponding to the target vehicle according to the expected trajectory point and a vehicle control point pose corresponding to the target vehicle; calculating error information between the vehicle control point and the tracking point according to the tracking point and the pose of the vehicle control point; determining reversing control information according to the error information and gear input information corresponding to the target vehicle; and according to the backing control information, backing control is carried out on the vehicle.
本发明提供一种倒车控制方法、装置及存储介质,可以实现对车辆的精准倒车。该方法包括:获取目标车辆的车辆状态信息,所述车辆状态信息包括所述目标车辆所对应的惯性传感器信号、轮速以及轮速方向;根据所述车辆状态信息确定所述目标车辆所对应的车辆控制点位姿;确定所述目标车辆所对应的期望轨迹点;根据所述期望轨迹点和所述目标车辆所对应的车辆控制点位姿确定所述目标车辆所对应的跟踪点;根据所述跟踪点以及所述车辆控制点位姿计算所述车辆控制点与所述跟踪点之间的误差信息;根据所述误差信息以及所述目标车辆所对应的挡位输入信息确定倒车控制信息;根据所述倒车控制信息对所述车辆进行倒车控制。
Reversing control method and device and storage medium
倒车控制方法、装置及存储介质
2022-06-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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