The invention provides a vehicle course angle processing method and device, electronic equipment and an automatic driving vehicle, and relates to the technical field of vehicle control, in particular to the field of automatic driving and intelligent traffic. Comprising the steps that under the condition that the running speed of a target vehicle is reduced to be smaller than a first speed threshold value, a first course angle when the running speed of the target vehicle is larger than or equal to the first speed threshold value is obtained, and the first course angle is a stored course angle closest to the current moment; taking the first course angle as a course angle of the target vehicle, and controlling the course angle of the target vehicle to be in a latched state; under the condition that the running speed of the target vehicle is larger than or equal to a second speed threshold value, the course angle of the target vehicle is controlled to be switched from the latching state to the unlocking state; wherein the first speed threshold value is smaller than the second speed threshold value, the course angle of the target vehicle does not change in the locking state, and the course angle of the target vehicle can be updated based on the driving state of the target vehicle in the unlocking state.
本公开提供了一种车辆航向角处理方法、装置、电子设备及自动驾驶车辆,涉及车辆控制技术领域,尤其涉及自动驾驶、智能交通领域。包括:在目标车辆的行驶速度降低至小于第一速度阈值的情况下,获取目标车辆的行驶速度大于或等于第一速度阈值时的第一航向角,第一航向角为已存储的距离当前时刻最近的一个航向角;将第一航向角作为目标车辆的航向角,并控制目标车辆的航向角处于锁存状态;在目标车辆的行驶速度大于或等于第二速度阈值的情况下,控制目标车辆的航向角由锁存状态切换至解锁状态;其中,第一速度阈值小于第二速度阈值,在锁存状态下,目标车辆的航向角不发生变化,在解锁状态下,目标车辆的航向角可基于目标车辆的行驶状态进行更新。
Vehicle course angle processing method and device, electronic equipment and automatic driving vehicle
车辆航向角处理方法、装置、电子设备及自动驾驶车辆
2023-04-07
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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