The invention discloses a vehicle tracking reversing method and device, a vehicle and a storage medium, and the method comprises the steps: detecting whether the vehicle is in a preset tracking reversing working condition or not; when it is detected that the vehicle is in the preset tracking reversing condition, the vehicle is controlled to enter a path memory mode to obtain the transverse coordinates, the longitudinal coordinates and the yaw angle memorized by the vehicle so as to obtain the target driving track of the vehicle, and under the condition that the vehicle meets the preset tracking reversing condition, the target driving track is subjected to reverse processing to obtain the target driving track of the vehicle. And according to the tracking target trajectory and the target front wheel rotation angle of the vehicle, controlling the vehicle to execute a tracking backing action. According to the embodiment of the invention, the target driving track of the vehicle can be obtained based on the transverse coordinate, the longitudinal coordinate and the yaw angle memorized by the vehicle for reverse processing to obtain the tracking target track, and the tracking target track and the target front wheel rotation angle of the vehicle control the vehicle for tracking backing, so that the flexibility of the vehicle tracking backing is effectively improved, and the driving demand of a user is met.
本申请公开一种车辆循迹倒车的方法、装置、车辆及存储介质,其中,方法包括:检测车辆是否处于预设循迹倒车工况;在检测到车辆处于预设循迹倒车工况的情况下,控制车辆进入路径记忆模式,以得到车辆记忆的横向坐标、纵向坐标和横摆角,从而得到车辆的目标行驶轨迹,并在车辆满足预设循迹倒车条件的情况下,将目标行驶轨迹进行逆向处理,得到循迹目标轨迹,以根据循迹目标轨迹和车辆的目标前轮转角控制车辆执行循迹倒车动作。本申请实施例可以基于车辆记忆的横向坐标、纵向坐标和横摆角得到车辆的目标行驶轨迹进行逆向处理,得到循迹目标轨迹,并与车辆的目标前轮转角控制车辆进行循迹倒车,有效的提升车辆循迹倒车的灵活性,满足用户的驾乘需求。
Vehicle tracking reversing method and device, vehicle and storage medium
车辆循迹倒车的方法、装置、车辆及存储介质
2024-06-04
Patent
Electronic Resource
Chinese
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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