The invention provides a vehicle forward steering trajectory generation method and device and a storage medium. The method comprises the steps that the current steering wheel turning angle of a vehicle is obtained; based on the conversion relation between the steering wheel rotation angle and the wheel rotation angle, the current steering wheel rotation angle is converted into the wheel rotation angle; and generating a forward steering track line of the vehicle according to the converted wheel turning angle. The forward steering track line of the vehicle is generated according to the current steering wheel angle of the vehicle, the implementation is simple, the cost of manual marking when the steering track line is generated by using polynomial fitting and other algorithms is reduced, and meanwhile, the problem of safety early warning during parallel driving and forward driving is solved.
本申请提供一种车辆前行转向轨迹线生成方法、设备、存储介质,该方法获取车辆当前的方向盘转角;基于方向盘转角和车轮转角之间的转换关系,将当前的方向盘转角转换为车轮转角;根据转换得到的车轮转角生成车辆的前行转向轨迹线。本申请根据车辆当前的方向盘转角生成车辆的前行转向轨迹线,实现简单,降低了比如使用多项式拟合等算法生成转向轨迹线时需人工标注的成本,同时解决了平行驾驶前向行驶时的安全预警问题。
Vehicle forward steering trajectory generation method and device, and storage medium
车辆前行转向轨迹线生成方法、设备、存储介质
2023-07-14
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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