The embodiment of the invention relates to a vehicle transverse anomaly detection method and device, equipment and a medium. The method comprises the steps that the real-time position, the reference track and steering control information of a vehicle are acquired; determining a reference curvature of the vehicle at the current position according to the real-time position and the reference trajectory; determining an expected curvature of the vehicle according to the steering control information; and performing anomaly detection on the vehicle according to the reference curvature and the expected curvature. According to the technical scheme, the reference curvature of the reference trajectory projection point is compared with the theoretical expected curvature corresponding to the vehicle steering control quantity to realize transverse anomaly detection of the vehicle, so that the anomaly problem during tracking of reference trajectories with different shapes can be effectively detected; the reference curvature is relatively stable and the expected curvature is the theoretical calculation value, so that the defect of relatively low accuracy caused by relatively large noise and delay of the feedback data is avoided, the accuracy of anomaly detection is improved, and the driving safety of the vehicle is further improved.
本公开实施例涉及一种车辆横向异常检测方法、装置、设备及介质,其中该方法包括:获取车辆的实时位置、参考轨迹以及转向控制信息;根据实时位置以及参考轨迹确定车辆在当前位置处的参考曲率;根据转向控制信息确定车辆的期望曲率;根据参考曲率与期望曲率对车辆进行异常检测。采用上述技术方案,基于参考轨迹投影点的参考曲率与车辆转向控制量对应的理论期望曲率进行对比实现车辆的横向异常检测,能够有效检测出跟踪不同形状的参考轨迹时的异常问题,由于参考曲率较为稳定并且期望曲率为理论计算值,避免因反馈数据存在较大的噪声与延迟而造成的准确性较低的缺陷,提升异常检测的准确性,进而提升了车辆的驾驶安全性。
Vehicle transverse anomaly detection method, device, equipment and medium
车辆横向异常检测方法、装置、设备及介质
2022-06-21
Patent
Electronic Resource
Chinese
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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