本申请涉及一种无人车俯仰角确定方法、装置和计算机可读存储介质。该方法包括:分别对无人车当前行驶路面第一定位点和第二定位点进行定位,获取无人车当前行驶路面的坡度值;获取无人车当前行驶路面至少两条平行车道线的图像;根据无人车当前行驶路面至少两条平行车道线的图像,对无人车与当前行驶路面之间的夹角进行优化,得到无人车与当前行驶路面之间夹角的最优值;将无人车与当前行驶路面之间夹角取最优值时无人车的俯仰角检测值减去该最优值与坡度值之和,得到无人车的俯仰角检测值与无人车的俯仰角真实值之间的偏差值;根据无人车在任意时刻的俯仰角检测值和偏差值,得到无人车的俯仰角真实值。

    The invention relates to an unmanned vehicle pitch angle determination method and device and a computer readable storage medium. The method comprises the following steps: respectively positioning a first positioning point and a second positioning point of a current driving road surface of the unmanned vehicle, and obtaining a slope value of the current driving road surface of the unmanned vehicle; acquiring images of at least two parallel lane lines on the current driving road surface of the unmanned vehicle; according to the images of the at least two parallel lane lines of the current driving road surface of the unmanned vehicle, optimizing an included angle between the unmanned vehicle and the current driving road surface to obtain an optimal value of the included angle between the unmanned vehicle and the current driving road surface; subtracting the sum of the optimal value and the slope value from the pitch angle detection value of the unmanned vehicle when the included angle between the unmanned vehicle and the current driving road surface is the optimal value to obtain a deviation value between the pitch angle detection value of the unmanned vehicle and the pitch angle true value of the unmanned vehicle; and obtaining the pitch angle true value of the unmanned vehicle according to the pitch angle detection value and the deviation value of the unmanned vehicle at any moment.


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    Titel :

    无人车俯仰角确定方法、装置和计算机可读存储介质


    Erscheinungsdatum :

    2024-06-07


    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