The invention provides a direction wheel turning angle calculation method, device and equipment and a readable storage medium, and when the driving direction of a target vehicle transversely moves, the direction wheel turning angle calculation method provided by the embodiment of the invention can determine a first direction wheel turning angle of the target vehicle at a control terminal of the target vehicle; after the first direction wheel turning angle is determined, compensation calculation can be carried out on the first direction wheel turning angle based on a preset reverse stretch rate, and a target direction wheel turning angle of the target vehicle is obtained. According to the steering wheel steering angle calculation method provided by the embodiment of the invention, the error between the steering wheel steering angle of the transverse movement of the vehicle and the steering wheel steering angle required by the expected driving track route planned by the tracking vehicle can be reduced; the deviation between the current driving track route of the vehicle and the expected driving track route planned by the vehicle can be effectively reduced, and the driving accuracy of the vehicle is improved.
本申请提供一种方向轮转角计算方法、装置、设备及可读存储介质,当目标车辆的行驶方向发生横向移动时,本申请实施例提供的方向轮转角计算方法可以在所述目标车辆的控制终端,确定所述目标车辆的第一方向轮转角;在确定所述第一方向轮转角之后,可以基于预设的反向拉伸率,对所述第一方向轮转角进行补偿计算,获得所述目标车辆的目标方向轮转角。本申请实施例提供的方向轮转角计算方法可以有助于降低车辆横向运动的方向轮转角与跟踪车辆自行规划的期望行驶轨迹路线所需要的方向轮转角之间的误差,可以有效降低车辆当前行驶轨迹路线与车辆自行规划的期望行驶轨迹路线之间的偏差,并提高车辆行驶的准确性。
Direction wheel turning angle calculation method, device and equipment and readable storage medium
方向轮转角计算方法、装置、设备及可读存储介质
2022-11-29
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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