The invention provides a vehicle control instruction generation method and device, electronic equipment, a medium and a product, and the method comprises the steps: obtaining image data or laser point data shot in the self-driving process of a vehicle according to a set period in response to a reference route track of self-driving of the vehicle, recording a time point for acquiring the image data or the laser point data in each period as a first moment; the pose of the vehicle at the first moment is determined according to the image data or the laser point data obtained in each period, and the time point for determining the pose is recorded as a second moment; obtaining IMU data of the vehicle from the first moment to the second moment, and determining the pose of the vehicle at the second moment according to the pose of the vehicle at the first moment and the IMU data of the vehicle; and a control instruction of the vehicle is generated according to the pose at the second moment and the reference route track, so that the vehicle is controlled through the control instruction, the influence caused by time delay of the positioning module is greatly reduced, and the control precision of the automatic driving vehicle is improved.

    本发明提供一种车辆控制指令生成方法、装置、电子设备、介质及产品,所述方法包括:响应车辆自驾行驶的参考路线轨迹,按照设定周期获取车辆自驾行驶过程中拍摄的图像数据或激光点数据,并记录每个周期获取图像数据或激光点数据的时间点为第一时刻;根据每个周期获取的图像数据或激光点数据确定车辆在所述第一时刻的位姿,并记录确定位姿的时间点为第二时刻;获取第一时刻至第二时刻内车辆的IMU数据,根据车辆在第一时刻的位姿以及车辆的IMU数据,确定车辆在第二时刻的位姿;根据第二时刻的位姿与参考路线轨迹生成车辆的控制指令,以便于通过控制指令对车辆进行控制,极大的降低了定位模块延时带来的影响,提高了自动驾驶车辆的控制精度。


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    Title :

    Vehicle control instruction generation method and device, electronic equipment, medium and product


    Additional title:

    车辆控制指令生成方法、装置、电子设备、介质及产品


    Contributors:
    LIU TONG (author) / WANG JUN (author) / XIAO ZHENPENG (author)

    Publication date :

    2023-09-05


    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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