The invention relates to the technical field of automatic driving, in particular to a steering detection method, device and equipment of an automatic driving vehicle and a medium. The steering detection method comprises the following steps: acquiring steering response delay of the autonomous vehicle; according to the steering response delay, steering instruction parameters of the automatic driving vehicle and corresponding actual steering parameters are periodically obtained; according to the actual steering parameters of each period, whether the automatic driving vehicle steers in the corresponding period or not is determined; and according to the steering instruction parameter and the actual steering parameter of the period in which steering does not occur, determining whether the autonomous vehicle has a steering fault in the corresponding period. According to the steering detection scheme, various steering fault conditions of the automatic driving vehicle can be efficiently and accurately detected, the steering state can be monitored on line in real time in the driving process of the automatic driving vehicle, monitoring is stable, false detection is avoided, and the detection method is simple and easy to implement.

    本发明涉及自动驾驶技术领域,具体地说,涉及一种自动驾驶车辆的转向检测方法、装置、设备和介质。转向检测方法包括:获取自动驾驶车辆的转向响应延时;根据所述转向响应延时,周期性地获取所述自动驾驶车辆的转向指令参数及对应的实际转向参数;根据每个周期的实际转向参数,确定所述自动驾驶车辆在对应的周期内是否发生转向;根据未发生转向的周期的转向指令参数和实际转向参数,确定所述自动驾驶车辆在对应的周期内是否发生转向故障。本发明的转向检测方案,能够高效、准确地检测出自动驾驶车辆的各种转向故障情形,实现在自动驾驶车辆的行驶过程中在线实时监测转向状态,监测稳定无误检,且检测方法简单易实现。


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    Titel :

    Steering detection method, device and equipment of autonomous vehicle and medium


    Weitere Titelangaben:

    自动驾驶车辆的转向检测方法、装置、设备和介质


    Beteiligte:
    TAN LIMIN (Autor:in) / LIU JICHUAN (Autor:in) / XIE YI (Autor:in) / CHEN CHAO (Autor:in)

    Erscheinungsdatum :

    2023-04-18


    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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