The invention discloses a vehicle yaw angle compensation calibration method, device and equipment and a storage medium, and belongs to the field of automatic driving planning control. The method comprises the following steps: performing yaw angle static calibration when a target vehicle is powered on and meets a first calibration condition to obtain a static calibration value; determining a single static calibration value according to the static calibration value, an offline calibration memory value and a second calibration condition; when the target vehicle does not meet the first calibration condition and meets a third calibration condition, yaw angle dynamic calibration is conducted on the target vehicle, and a dynamic calibration value is obtained; and determining a fusion calibration value according to the single static calibration value and the dynamic calibration value, and performing yaw angle compensation calibration of the target vehicle according to the fusion calibration value. By means of the mode, mutual verification is achieved by combining the two modes of online dynamic calibration and offline static calibration, the system can adapt to more complex driving environments, and the influence caused by temperature and sensor null drift is avoided.

    本发明公开了一种车辆横摆角补偿校准方法、装置、设备及存储介质,属于自动驾驶规划控制领域。本发明通过在目标车辆上电且满足第一校准条件时进行横摆角静态校准,得到静态校准值;根据所述静态校准值、下线校准记忆值和第二校准条件确定单静态校准值;在所述目标车辆不满足第一校准条件且满足第三校准条件时,对所述目标车辆进行横摆角动态校准,得到动态校准值;根据所述单静态校准值和所述动态校准值确定融合校准值,并根据所述融合校准值进行所述目标车辆的横摆角补偿校准。通过这种方式,实现了结合在线动态校准与离线静态校准两种方式相互校验,能够适应更加复杂的驾驶环境,解决因温度、传感器零漂带来的影响。


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    Title :

    Vehicle yaw angle compensation calibration method, device and equipment and storage medium


    Additional title:

    车辆横摆角补偿校准方法、装置、设备及存储介质


    Contributors:
    REN CONG (author) / SHEN CHEN (author) / ZHONG XIAOFAN (author) / FU BIN (author) / QIU TAICHAO (author)

    Publication date :

    2024-04-16


    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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