The invention discloses an obstacle touch recognition method and device, equipment and a storage medium, and the method comprises the steps: collecting the speed information of a target vehicle when the target vehicle is in an automatic parking mode; acquiring acceleration information and wheel rotating speed information of the target vehicle; based on the acceleration information and the wheel rotating speed information, performing Kalman filtering processing on the vehicle speed information to obtain target vehicle speed information; acquiring target impact degree information of the target vehicle; performing fuzzification processing on the target vehicle speed information and the target impact degree information to obtain a target vehicle speed fuzzy quantity and a target impact degree fuzzy quantity; performing fuzzy reasoning on the target vehicle speed fuzzy quantity and the target impact degree fuzzy quantity based on a fuzzy controller to obtain a target touch recognition result fuzzy quantity; and performing defuzzification processing on the fuzzy quantity of the target touch recognition result to obtain an obstacle touch recognition result of the wheels of the target vehicle. By using the technical scheme, the accuracy of obstacle touch recognition of the wheels can be improved.

    本申请公开了一种障碍物触碰识别方法、装置、设备及存储介质,所述方法包括:当目标车辆处于自动泊车模式时,采集目标车辆的车速信息;获取目标车辆的加速度信息和车轮转速信息;基于加速度信息和车轮转速信息,对车速信息进行卡尔曼滤波处理,得到目标车速信息;获取目标车辆的目标冲击度信息;对目标车速信息和目标冲击度信息进行模糊化处理,得到目标车速模糊量和目标冲击度模糊量;基于模糊控制器对目标车速模糊量和目标冲击度模糊量进行模糊推理,得到目标触碰识别结果模糊量;对目标触碰识别结果模糊量进行解模糊化处理,得到目标车辆的车轮的障碍物触碰识别结果。利用本申请提供的技术方案可以提升车轮的障碍物触碰识别的准确度。


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    Title :

    Obstacle touch recognition method and device, equipment and storage medium


    Additional title:

    一种障碍物触碰识别方法、装置、设备及存储介质


    Contributors:
    LI FENGJUN (author) / ZHOU JIANGUANG (author) / HOU FAWEI (author)

    Publication date :

    2021-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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