The invention belongs to the technical field of automatic driving, and discloses a takeover control method, device and equipment and a storage medium. The method comprises the steps that when a movable carrier is in an automatic driving state, a steering wheel angular rate threshold value is determined according to current steering wheel parameters, preset steering wheel parameters and working state data; an actual control instruction is generated according to the steering wheel control information and the steering wheel angular rate threshold value; and a steering wheel of the movable carrier is controlled according to the actual control instruction. Through the mode, the current steering wheel control is limited according to the preset steering wheel parameters to ensure that the related parameters of the rotation of the steering wheel are always kept at a stable level under the unmanned driving state, so that the situation that the movable carrier enters manual takeover under the condition that no driver drives is avoided, the safety of a movable carrier and the steering stability degree are improved, and a user can obtain good use experience.

    本发明属于自动驾驶技术领域,公开了一种接管控制方法、装置、设备及存储介质。该方法包括:在可移动载体处于自动驾驶状态时,根据当前方向盘参数、预设方向盘参数和工作状态数据确定方向盘角速率阈值;根据所述方向盘控制信息和所述方向盘角速率阈值生成实际控制指令;根据所述实际控制指令对所述可移动载体的方向盘进行控制。通过上述方式实现了,根据预设方向盘参数对当前方向盘控制进行限制,以保证在无人驾驶状态下方向盘的转动的相关参数会始终保持在一个平稳的水平,从而避免了可移动载体在没有驾驶员进行驾驶情况下进入人工接管的情况发生,提高了可移动载体的安全性和转向的平稳程度,有利于用户得到良好的使用体验。


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    Titel :

    Takeover control method and device, equipment and storage medium


    Weitere Titelangaben:

    接管控制方法、装置、设备及存储介质


    Beteiligte:
    SHAO YUYANG (Autor:in) / ZHANG TIANHUA (Autor:in) / XU LIREN (Autor:in) / HAN XU (Autor:in)

    Erscheinungsdatum :

    2021-11-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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