The invention discloses an electrified road vehicle driving assistance method, device and equipment and a medium, and is applied to the field of automobile intelligent driving control, and the method comprises the steps: determining target tracks of two contact network lines corresponding to a road vehicle in a global coordinate system based on an electronic map module; when the road vehicle is driven into the network section, determining the position information of the road vehicle under the global coordinate system based on the positioning equipment; converting the target trajectory and the position information into a vehicle target trajectory and vehicle position information under a vehicle coordinate system; determining center coordinates of the two pantographs according to the vehicle position information, and determining lateral deviation values corresponding to the two pantographs according to the center coordinates and the vehicle target trajectory; a steering wheel angle of the road vehicle is determined based on the lateral deviation amount. The corresponding steering wheel turning angle is output to control the driving track of the road vehicle, and it can be guaranteed that the pantograph is in good contact with the overhead line system in the driving process.

    本发明公开了一种电气化公路车辆驾驶辅助方法、装置、设备及介质,应用于汽车智能驾驶控制领域,包括:基于电子地图模块确定公路车辆对应两条接触网线在全局坐标系下的目标轨迹;当公路车辆驶入有网路段时,基于定位设备确定公路车辆在全局坐标系下的位置信息;将目标轨迹以及位置信息均转换至车辆坐标系下的车辆目标轨迹以及车辆位置信息;根据车辆位置信息确定两个受电弓的中心坐标,并根据中心坐标以及车辆目标轨迹确定两个受电弓对应的侧向偏差量;基于侧向偏差量确定公路车辆的方向盘转角。以此输出对应的方向盘转角对公路车辆的驾驶轨迹进行控制,可以实现在行驶过程中保证受电弓与接触网接触良好。


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    Title :

    Electrified road vehicle driving assistance method, device, equipment and medium


    Additional title:

    一种电气化公路车辆驾驶辅助方法、装置、设备及介质


    Contributors:
    WANG YUQI (author) / QU HAIYANG (author) / LIU WENZHE (author) / PI KAIJUN (author) / DU QIUMAO (author) / HE ANQING (author)

    Publication date :

    2023-12-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60M Speiseleitungen oder Vorrichtungen am Gleis für elektrisch angetriebene Fahrzeuge , POWER SUPPLY LINES, OR DEVICES ALONG RAILS, FOR ELECTRICALLY-PROPELLED VEHICLES



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