The invention discloses a vehicle tracking reversing method and device, a vehicle and a storage medium, and the method comprises the steps: recognizing a target obstacle of an environment where the vehicle is located under the condition that the vehicle is detected to be in a preset tracking reversing working condition, so as to obtain an actual distance between the vehicle and the target obstacle; and performing target data fusion based on the actual distance to obtain a target driving track of the vehicle according to a data fusion result, and performing reverse processing on the target driving track under the condition that the vehicle meets a preset tracking reversing condition to obtain a tracking target track, and controlling the vehicle to execute a tracking backing action according to the tracking target trajectory and the target front wheel turning angle of the vehicle. According to the embodiment of the invention, reverse processing can be carried out on the target driving track of the vehicle obtained based on the data fusion result to obtain the tracking target track, and the tracking backing of the vehicle is controlled according to the target front wheel rotation angle of the vehicle, so that the flexibility of the tracking backing of the vehicle is effectively improved, and the use requirements of users on various special scenes are met.

    本申请公开了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:在检测到车辆处于预设循迹倒车工况的情况下,识别车辆所处环境的目标障碍物,以获取车辆与目标障碍物之间的实际距离;基于实际距离进行目标数据融合,以根据数据融合结果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。本申请实施例可基于数据融合结果所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,满足用户对各种特殊场景的使用需求。


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    Title :

    Vehicle tracking reversing method and device, vehicle and storage medium


    Additional title:

    车辆循迹倒车的方法、装置、车辆及存储介质


    Contributors:
    ZHU KEFU (author) / WANG YU (author) / ZHANG JIAN (author) / LI LINRUN (author) / JIANG HONGWEI (author) / BAO WANQUAN (author) / JIANG NAN (author)

    Publication date :

    2024-06-18


    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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