According to the yaw velocity correction method and device, the vehicle, the equipment and the medium, the yaw velocity correction precision is improved on the premise that the hardware or communication cost is not increased, and then the precision requirement of a vehicle automatic driving system for the input vehicle yaw velocity is better met. The yaw velocity correction method comprises the following steps: acquiring a steering wheel angle of a vehicle, a vehicle speed and an actual yaw velocity output in a current sampling period; predicting a yaw velocity change rate upper limit value and a yaw velocity change rate lower limit value in real time according to the steering wheel angle and the vehicle speed of the vehicle; and correcting the actual yaw velocity according to the yaw velocity change rate upper limit value and the yaw velocity change rate lower limit value.
本发明提供了一种横摆角速度矫正方法、装置、车辆、设备及介质,在不增加硬件或通信成本的前提下,提高横摆角速度校正精度,进而更好满足车辆自动驾驶系统对输入的车辆横摆角速度的精度要求。该横摆角速度矫正方法,包括:获取车辆的方向盘转角、车速和当前采样周期输出的实际横摆角速度;根据车辆的方向盘转角和车速,实时预测横摆角速度变化率上限值和横摆角速度变化率下限值;根据横摆角速度变化率上限值和横摆角速度变化率下限值,对实际横摆角速度进行矫正。
Yaw velocity correction method and device, vehicle, equipment and medium
一种横摆角速度矫正方法、装置、车辆、设备及介质
2023-05-02
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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