The invention provides a vehicle pose determination method and device, electronic equipment and a storage medium. The method comprises the steps that steering wheel angle information, gear information and wheel speed pulse information of a vehicle and tire pressure information of each wheel are obtained; determining a turning radius corresponding to the vehicle according to the steering wheel turning angle information, and determining a front wheel turning angle of the vehicle according to the turning radius; obtaining a target rotation angle coefficient, and dynamically adjusting the front wheel rotation angle according to the target rotation angle coefficient to obtain a target front wheel rotation angle; the advancing direction of the vehicle is determined according to the gear information, and the unit wheel speed pulse distance of each wheel is determined according to the wheel speed pulse information and the tire pressure information of each wheel; and determining pose information of the vehicle according to the target front wheel turning angle, the advancing direction and the unit wheel speed pulse distance of each wheel. According to the method, the front wheel turning angle of the vehicle can be adjusted according to the target turning angle coefficient, errors caused by tire pressure information changes are avoided, and the accuracy of the pose information of the vehicle is improved.
本申请提供了一种车辆的位姿确定方法、装置、电子设备及存储介质,该方法包括:获取车辆的方向盘转角信息、挡位信息、轮速脉冲信息和每一车轮的胎压信息;根据方向盘转角信息确定车辆对应的转弯半径,并根据转弯半径确定车辆的前轮转角;获取目标转角系数,并根据目标转角系数对前轮转角进行动态调整,得到目标前轮转角;根据挡位信息确定车辆的前进方向,并根据轮速脉冲信息和每一车轮的胎压信息确定每一车轮的单位轮速脉冲距离;根据目标前轮转角、前进方向和每一车轮的单位轮速脉冲距离,确定车辆的位姿信息。本申请能够通过根据目标转角系数对车辆的前轮转角进行调整以及避免胎压信息变化所导致的误差,提高车辆的位姿信息的准确性。
Vehicle pose determination method and device, electronic equipment and storage medium
车辆的位姿确定方法、装置、电子设备及存储介质
2024-05-14
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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