The invention relates to a vehicle driving track area calculation and static obstacle recognition method, which comprises the following steps: when a real-time vehicle speed is smaller than a first speed value, obtaining a track curvature based on a steering parameter; the steering parameters comprise a steering wheel angle, a steering transmission ratio and a wheelbase; when the real-time vehicle speed is between the first speed value and the second speed value, obtaining a trajectory curvature based on the steering parameter, the yaw velocity, the real-time vehicle speed, the first speed value and the second speed value; when the real-time vehicle speed is larger than the second speed value, the track curvature is obtained according to the yaw velocity and the real-time vehicle speed; selecting a corresponding track curvature according to the real-time vehicle speed so as to obtain a driving track area; according to different vehicle speeds, factors influencing the steering wheel turning angle and the yaw velocity of the track curvature are selected to calculate the accurate track curvature, so that the problem that static obstacles are wrongly recognized due to inaccurate tracks under the condition that the vehicle is low in speed is solved.
本申请涉及一种车辆行驶轨迹区域计算及静止障碍物识别方法,其包括:当实时车速小于第一速度值时,基于转向参数得到轨迹曲率;转向参数包括方向盘转角、转向传动比和轴距;当实时车速位于第一速度值和第二速度值之间时,基于转向参数、横摆角速度、实时车速、第一速度值和第二速度值得到轨迹曲率;当实时车速大于第二速度值时,根据横摆角速度和实时车速得出轨迹曲率;根据实时车速选择对应的轨迹曲率,以得出行驶轨迹区域;根据不同的车速选择影响轨迹曲率的方向盘转角和横摆角速度的因素进行计算出准确的轨迹曲率,以解决车辆低速情况下的轨迹不精确导致的静止障碍物错误识别的问题。
Vehicle driving track area calculation and static obstacle recognition method
一种车辆行驶轨迹区域计算及静止障碍物识别方法
2023-11-17
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 |
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