The invention discloses a reversing lever confirmation method, a whole vehicle control method, a device, equipment and a storage medium, the confirmation method comprises the following steps: when a reversing lever is identified for the first time, controlling a vehicle body to execute reversing motion towards the reversing lever; acquiring a current parking distance and a current speed; when the difference between the current parking distance and the simulated parking distance is larger than a first set threshold value, it is confirmed that the reversing rod is true, and confirmation and marking are conducted on a high-precision map; otherwise, obtaining a simulation acceleration according to the current acceleration and the speed corresponding to the simulation parking distance, and when the difference between the current acceleration and the simulation acceleration is greater than a second set threshold value, confirming that the reversing rod is true, and confirming and marking on a high-precision map; otherwise, confirming that the reversing lever is not real. According to the invention, the recognition accuracy of the reversing lever is improved, and vehicle control during reversing of the vehicle is facilitated.
本发明公开一种倒车杆确认方法、整车控制方法、装置、设备及存储介质,所述确认方法包括当首次识别倒车杆时,控制车体朝向所述倒车杆执行倒车运动;获取当前停车距离与当前速度;当当前停车距离与仿真停车距离之差大于第一设定阈值时,确认倒车杆属实,并在高精地图上确认并标识;否则当前加速度,并根据仿真停车距离对应的速度得到仿真加速度,当当前加速度与仿真加速度之差大于第二设定阈值时,确认倒车杆属实,并在高精地图上确认并标识;否则确认倒车杆不属实。本发明提高了倒车杆识别的准确性,有利于车辆倒车时的整车控制。
Reversing lever confirmation method, vehicle control method, device, equipment and storage medium
倒车杆确认方法、整车控制方法、装置、设备及存储介质
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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