The invention provides a method, device and equipment for controlling the driving direction of a vehicle. The method comprises the steps of acquiring a preset reference track of a target vehicle; acquiring the pose information of the target vehicle in real time; the pose information comprising the position information and the pose information of the target vehicle; calculating the tracking deviation of the target vehicle deviating from the preset reference track according to the pose information and a preview point on the preset reference track; when the tracking deviation is larger than a preset deviation threshold value, generating a steering wheel instruction based on preset transition time and the tracking deviation, and the steering wheel instruction representing a steering wheel rotation angle needed by the vehicle; and sending the steering wheel instruction to a vehicle control system, so that the vehicle control system controls the driving direction of the target vehicle. By utilizing the embodiment of the invention, the phenomenon of overshoot of the vehicle can be effectively reduced, and the driving safety of the vehicle is improved.
本说明书提供了一种控制车辆行驶方向的方法、装置及设备。所述方法包括获取目标车辆的预设参考轨迹;实时获取所述目标车辆的位姿信息;其中,所述位姿信息包括所述目标车辆的位置信息和姿态信息;根据所述位姿信息和所述预设参考轨迹上的预瞄点,计算所述目标车辆偏离所述预设参考轨迹的跟踪偏差;在所述跟踪偏差大于预设偏差阈值时,基于预设过渡时间和所述跟踪偏差,生成方向盘指令,所述方向盘指令表征车辆所需的方向盘转角;将所述方向盘指令发送至车辆控制系统,以使所述车辆控制系统控制所述目标车辆的行驶方向。利用本说明书实施例可以有效减少对车辆超调的现象,提高车辆的行驶安全性。
Method, device and equipment for controlling driving direction of vehicle
一种控制车辆行驶方向的方法、装置及设备
2021-02-12
Patent
Elektronische Ressource
Chinesisch
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