The invention discloses a road passing method, a road passing device, a vehicle, an electronic device and a storage medium. The method comprises the steps of obtaining a current pose and a target pose of a vehicle, wherein the vehicle comprises a plurality of wheels which are independently driven; and in the process that the vehicle moves from the current pose to the target pose, the working conditions of all the wheels are controlled, so that the postures of the vehicle reaching all the path points are the passing postures corresponding to all the path points. Through high-degree-of-freedom vehicle attitude adjustment, the vehicle is adjusted to the passing attitude corresponding to each path point when reaching each path point, the vehicle can still ensure passing in a narrow road passing scene with a high narrow degree and a high complexity degree, the vehicle driving applicability is improved, and the driving experience of the vehicle is improved. Therefore, the vehicle can pass through a narrow road, can be parked and parked out in a complex scene (such as a narrow scene with multiple obstacles) and can return, and the passing experience of a user is improved.
本申请公开一种道路通行方法、道路通行装置、车辆、电子装置和存储介质。方法包括:获取车辆的当前位姿和目标位姿,车辆包括独立驱动的多个车轮;在车辆从当前位姿移动到目标位姿的过程中,分别控制各个车轮的工况,以使得车辆到达各个路径点的姿态分别为各个路径点对应的通行姿态。通过高自由度的车辆姿态调整,使得车辆在到达各个路径点时,均调整为该路径点对应的通行姿态,在面对狭小程度较高、复杂程度较高的窄路通行场景时,车辆仍然能够保证通行,提高车辆行驶的适用性,进而让车辆能够实现窄道通行、复杂场景(如多障碍物的狭窄场景)停车、泊出和车辆返回等功能,提高用户的通行体验。
Road passing method, road passing device, electronic device, vehicle and medium
道路通行方法、道路通行装置、电子装置、车辆和介质
02.07.2024
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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