The embodiment of the invention relates to the technical field of automatic driving, and discloses a zero calibration method and device for a vehicle folding angle and a storage medium, which can be applied to scenes such as ports, mines, parks, urban traffic or highways. The method comprises the following steps: determining that a vehicle is in a linear driving state according to a driving parameter set representing the driving direction, the driving speed and the driving posture of the vehicle, the driving parameter set being received through a first CAN bus, and determining that the linear driving distance of the vehicle in the linear driving state is greater than a preset distance; under the condition that the central axis of the traction vehicle head coincides with the central axis of the traction carriage, the folding angle measured by the angle sensor is obtained through the second CAN bus, then the folding angle value is determined, the folding angle value is marked as the zero point of the folding angle of the vehicle, and therefore the zero point of the folding angle of the vehicle can be simply, conveniently, efficiently and accurately determined.

    本申请实施例涉及自动驾驶技术领域,公开了一种车辆折叠角的零点标定的方法、装置及存储介质,可应用于港口、矿山、园区、城市交通、或高速等场景,该方法为:在车辆行驶过程中,先根据表征车辆的行驶方向、行驶速度和行驶姿态的行驶参数集合确定车辆处于直线行驶状态,上述行驶参数集合是通过第一CAN总线接收到的,并确定车辆保持直线行驶状态的直线行驶距离大于预设距离,即在牵引车头的中轴线与牵引车厢的中轴线重合的情况下,通过第二CAN总线获取角度传感器测得的折叠角,进而确定出折叠角度值,以及,将折叠角度值标记为车辆折叠角的零点,从而能够简便高效准确地确定出车辆折叠角的零点。


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    Title :

    Zero calibration method and device for vehicle folding angle and storage medium


    Additional title:

    一种车辆折叠角的零点标定的方法、装置及存储介质


    Contributors:
    SUN YANYU (author) / WANG CHAO (author) / ZHANG TIANLEI (author)

    Publication date :

    2023-05-09


    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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