The invention discloses a vehicle backing running control method and device, a vehicle, a storage medium and a terminal, relates to the technical field of automatic driving, and mainly aims at solving the problem that existing vehicle backing running is poor in effectiveness. Comprising the steps of obtaining a historical driving track of a vehicle and an obstacle contour point position of an obstacle; performing transverse track planning on the historical driving track according to a preset transverse path boundary to obtain a transverse reference track of the historical driving track; on the basis of the transverse reference trajectory and the obstacle contour point position, determining that the vehicle is expected to be collided, generating a longitudinal path boundary according to a collision position where the vehicle is expected to be collided and a preset collision avoidance distance, and performing longitudinal trajectory planning on the historical driving trajectory according to the longitudinal path boundary, a car backing planning track is obtained; and controlling the vehicle to reverse according to the reverse planning track. The method is mainly used for controlling vehicle backing running.

    本发明公开了一种车辆倒车行驶的控制方法及装置、车辆、存储介质、终端,涉及自动驾驶技术领域,主要目的在于解决现有车辆倒车行驶有效性较差的问题。包括:获取车辆的历史行驶轨迹以及障碍物的障碍物轮廓点位置;按照预设横向路径边界对所述历史行驶轨迹进行横向轨迹规划,得到所述历史行驶轨迹的横向参照轨迹;在基于所述横向参照轨迹以及所述障碍物轮廓点位置确定所述车辆预期发生碰撞的条件下,根据预期发生碰撞的碰撞位置以及预设避碰距离生成纵向路径边界,并根据所述纵向路径边界对所述历史行驶轨迹进行纵向轨迹规划,得到倒车规划轨迹;根据所述倒车规划轨迹控制所述车辆进行倒车行驶。主要用于车辆倒车行驶的控制。


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    Title :

    Vehicle reversing driving control method and device, vehicle, storage medium and terminal


    Additional title:

    车辆倒车行驶的控制方法及装置、车辆、存储介质、终端


    Contributors:
    KONG LEI (author) / WANG NINGYU (author)

    Publication date :

    2023-04-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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