The invention relates to a vehicle pose calculation method, a vehicle, computer equipment and a storage medium. The method comprises the following steps: acquiring the current speed of a vehicle and the current course angular velocity value of the vehicle; when the current vehicle speed is zero and the current course angular velocity value is larger than a preset course angular velocity threshold value, the course angle of the vehicle is calculated according to the current course angular velocity value; when the current vehicle speed is zero and the current course angular velocity value is smaller than a preset course angular velocity threshold value, taking a zero value as the value of the course angle; calculating a pose change track of the vehicle in unit time through a wheel pulse counting algorithm; integral transformation operation based on Lie group closed integral is carried out according to the calculated course angle and the pose change track, a pose transformation matrix of the vehicle is obtained, and the pose of the vehicle is determined according to the pose transformation matrix. By adopting the method, the accuracy of vehicle pose determination can be improved.
本申请涉及一种车辆位姿计算方法、车辆、计算机设备和存储介质。该方法包括:获取车辆的当前车速以及车辆的当前航向角速度值;在当前车速为零且当前航向角速度值大于预设的航向角速度阈值时,根据当前航向角速度值计算车辆的航向角;在所述当前车速为零且所述当前航向角速度值小于预设的航向角速度阈值时,取零值作为所述航向角的值;通过轮脉冲计数算法计算车辆在单位时间内的位姿变化轨迹;根据计算的航向角以及位姿变化轨迹进行基于李群闭式积分的积分变换运算,得到车辆的位姿变换矩阵,根据位姿变换矩阵确定车辆的位姿。采用本方法能够提高车辆位姿确定的准确性。
Vehicle pose calculation method, vehicle, computer equipment and storage medium
车辆位姿计算方法、车辆、计算机设备和存储介质
2023-12-05
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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