The invention provides a vehicle drift detection method and device. According to the method and the device, whether the vehicle drifts or not is determined through the transverse control error values in the preset detection time period by utilizing the characteristic that the transverse control error values can sensitively reflect tiny transverse changes of the vehicle and utilizing the characteristic that the transverse control error values abnormally and continuously jump or the statistical quantile is too large during drifting. Within a short time period, not only can the large drift of the vehicle be captured, but also the slow and small drift of the vehicle can be captured. And the vehicle is helped to timely and automatically take measures to control the posture of the vehicle, so that the driving safety of the vehicle is ensured. The method does not depend on point cloud matching, the calculation amount is small, and the detection efficiency is improved.
本公开提供了一种车辆漂移的检测方法和装置。本公开利用了横向控制误差值能够灵敏的反应车辆横向的细微变化的特点,利用了漂移时横向控制误差出现异常持续跳动或者统计分位值过大的特点,通过预设检测时间段内的多个横向控制误差值确定车辆是否出现漂移。在短时间段内,既能捕捉到车辆的大幅漂移,也能捕捉到车辆缓慢、小幅漂移。有助于车辆及时自动采取措施控制车辆的姿态,保证了车辆行驶的安全性。不依赖于点云匹配,计算量小,提高了检测效率。
Vehicle drift detection method and device
一种车辆漂移的检测方法和装置
2022-12-02
Patent
Elektronische Ressource
Chinesisch
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 |