The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: acquiring a shot image of a barrier vehicle corresponding to a target vehicle; identifying the vehicle type of the obstacle vehicle according to the shot image; determining wheel radius information of the obstacle vehicle according to the vehicle type; performing wheel circle center point detection on the shot image to obtain a wheel circle center point coordinate set; generating a wheel circle center point three-dimensional coordinate set corresponding to the wheel circle center point coordinate set under a vehicle body coordinate system of the target vehicle according to the wheel circle center point coordinate set and the wheel radius information; generating a wheel course vector corresponding to the obstacle vehicle according to the wheel circle center point three-dimensional coordinate set; and controlling the target vehicle to run according to the wheel course vector. According to the embodiment, the accuracy of the determined vehicle orientation and the driving safety are improved.

    本公开的实施例公开了车辆控制方法、装置、电子设备和计算机可读介质。该方法的一具体实施方式包括:获取与目标车辆对应的障碍车辆的拍摄图像;根据上述拍摄图像,识别上述障碍车辆的车辆类型;根据上述车辆类型,确定上述障碍车辆的车轮半径信息;对上述拍摄图像进行车轮圆心点检测,得到车轮圆心点坐标集合;根据上述车轮圆心点坐标集合和上述车轮半径信息,在上述目标车辆的车体坐标系下,生成对应上述车轮圆心点坐标集合的车轮圆心点三维坐标集合;根据上述车轮圆心点三维坐标集合,生成对应上述障碍车辆的车轮航向向量;根据上述车轮航向向量,控制上述目标车辆行驶。该实施方式提高了所确定的车辆朝向的准确率和行车安全性。


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    Title :

    Vehicle control method and device, electronic equipment and computer readable medium


    Additional title:

    车辆控制方法、装置、电子设备和计算机可读介质


    Contributors:
    HU YUCHAO (author)

    Publication date :

    2023-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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