The invention relates to the technical field of automobile auxiliary driving, in particular to a backing tracking method and device, a vehicle and a storage medium, and the method comprises the steps: detecting the current working condition of the vehicle, carrying out the path learning according to a path learning starting point and a path learning ending point, and detecting a passable area of the vehicle, and calculating a tracking reversing path, a target vehicle speed and a target turning angle, and controlling the vehicle to execute a reversing action along the tracking reversing path at the target vehicle speed and the target turning angle until the vehicle drives out of the current road meeting the preset narrow condition. According to the embodiment of the invention, the tracking reversing path, the target vehicle speed and the target turning angle can be calculated based on the path learning result of the vehicle and the passable area, thereby enabling the vehicle to reverse around an obstacle and achieve the purpose of driving out of a narrow road, improving the flexibility of vehicle tracking reversing, effectively guaranteeing the reliability and practicality of the vehicle, and improving the user experience. And the use requirements of the user on various special scenes are further met.
本申请涉及汽车辅助驾驶技术领域,特别涉及一种倒车循迹方法、装置、车辆及存储介质,其中,方法包括:检测车辆的当前所处工况,根据路径学习的起点和路径学习的终点进行路径学习,并检测车辆的可通行区域,进而计算循迹倒车路径、目标车速和目标转角,并控制车辆沿着循迹倒车路径以目标车速和目标转角执行倒车动作,直至驶出满足预设狭窄条件的当前道路。本申请实施例可以基于车辆的路径学习结果和可通行区域计算出循迹倒车路径、目标车速和目标转角,从而使车辆绕障倒车,实现驶出狭窄道路的目的,提升了车辆循迹倒车的灵活性,有效保证车辆的可靠性和实用性,进一步满足用户对各种特殊场景的使用需求。
Reversing tracking method and device, vehicle and storage medium
倒车循迹方法、装置、车辆及存储介质
2023-04-11
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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