The invention discloses an auxiliary driving method, system and device and a computer readable storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining a first wheel rotation angle generated according to a steering wheel rotation angle of a target vehicle; acquiring a second wheel turning angle generated according to the characteristic vehicle speed and the yaw velocity of the target vehicle; when the target vehicle is in a stable state, performing low-pass filtering on the second wheel turning angle to obtain a low-pass filtering value; when the stable duration of the target vehicle is greater than the set duration, performing iterative optimization on the second wheel rotation angle based on the low-pass filtering value to obtain a third wheel rotation angle; and generating a target wheel rotation angle according to the first wheel rotation angle and the third wheel rotation angle so as to perform auxiliary driving control on the target vehicle based on the target wheel rotation angle. According to the invention, the second wheel rotation angle is subjected to low-pass filtering and/or iterative optimization to obtain the third wheel rotation angle to generate the target wheel rotation angle, so that the accuracy of auxiliary driving control on the target vehicle based on the target wheel rotation angle can be improved.

    本申请公开了一种辅助驾驶方法、系统、设备及计算机可读存储介质,涉及智能驾驶技术领域,获取根据目标车辆的方向盘转角生成的第一车轮转角;获取根据目标车辆的特征车速、横摆角速度生成的第二车轮转角;当目标车辆处于稳定状态时,对第二车轮转角进行低通滤波,得到低通滤波值;当目标车辆的稳定时长大于设定时长时,基于低通滤波值对第二车轮转角进行迭代优化,得到第三车轮转角;根据第一车轮转角和第三车轮转角生成目标车轮转角,以基于目标车轮转角对目标车辆进行辅助驾驶控制。本申请对第二车轮转角进行低通滤波和/或迭代优化得到第三车轮转角来生成目标车轮转角,可以提高基于目标车轮转角对目标车辆进行辅助驾驶控制的准确性。


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    Title :

    Auxiliary driving method, system and equipment and computer readable storage medium


    Additional title:

    一种辅助驾驶方法、系统、设备及计算机可读存储介质


    Contributors:
    ZHANG ZHE (author) / HUANG MINGYUAN (author) / CUI WENTAO (author)

    Publication date :

    2024-02-13


    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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