The invention discloses a vehicle yaw angle prediction method and device and a computer readable storage medium. The method comprises the steps that the vehicle yaw angle of a target vehicle at the current moment is determined based on the vehicle centroid driving speed and yaw angle sensing data of the target vehicle; determining a turning radius and a tire slip angle of a target vehicle wheel; based on the equivalent speed, the turning radius and the tire slip angle of the target vehicle wheel in the wheel driving direction, the actual speed of the wheel in the vehicle driving direction is determined; determining a vehicle yaw angle weighted angular velocity of a wheel based on the actual velocity of the wheel of the target vehicle; and determining a target vehicle yaw angle of the target vehicle at the predetermined prediction moment based on the vehicle yaw angle at the current moment and the vehicle yaw angle weighted angular velocity of the wheels. The technical problem of inaccurate estimation of the yaw angle of the vehicle is solved.

    本发明公开了一种车辆横摆角预测方法、装置及计算机可读存储介质。其中,该方法包括:基于目标车辆的车辆质心行驶速度和偏航角度传感数据,确定目标车辆的当前时刻车辆横摆角;确定目标车辆车轮的转弯半径和轮胎侧偏角;基于目标车辆车轮在车轮行驶方向上的等效速度,转弯半径以及轮胎侧偏角,确定车轮在车辆行驶方向上的实际速度;基于目标车辆的车轮的实际速度,确定车轮的车辆横摆角加权角速度;基于当前时刻车辆横摆角和车轮的车辆横摆角加权角速度,确定目标车辆在预定预测时刻时的目标车辆横摆角。本发明解决了针对车辆横摆角估算不准确的技术问题。


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    Titel :

    Vehicle yaw angle prediction method and device and computer readable storage medium


    Weitere Titelangaben:

    车辆横摆角预测方法、装置及计算机可读存储介质


    Beteiligte:
    GAO YANXI (Autor:in) / GU YUAN (Autor:in) / PANG ZHUYIN (Autor:in) / CHEN BO (Autor:in) / LYU YING (Autor:in) / HAN JIAQI (Autor:in) / WANG YIMENG (Autor:in)

    Erscheinungsdatum :

    2022-11-01


    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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