The invention discloses a vehicle state determination method, apparatus and device, and a readable storage medium. The method comprises the steps of obtaining first driving data collected by a vehicle-mounted sensor; inputting the first driving data into a trained recurrent neural network model to obtain second driving data; determining a measurement vector of a strong tracking filter and a first noise covariance matrix based on the second driving data; and determining the driving state of the vehicle according to the measurement vector and the first noise covariance matrix. Thus, the first driving data is processed through the trained recurrent neural network, accurate second driving data can be obtained, further, the measurement vector and the first noise covariance matrix of the tracking filter with high accuracy can be determined according to the second driving data, and the accuracy of the tracking filter is improved. Based on the measurement vector and the first noise covariance matrix, accurate estimation of the strong tracking filter on the vehicle state can be realized, and the precision of vehicle state estimation is improved.

    本申请公开了一种车辆状态确定方法、装置、设备及可读存储介质,该方法包括:获取车载传感器采集到的第一行驶数据;将第一行驶数据输入至经过训练的循环神经网络模型,得到第二行驶数据;基于第二行驶数据,确定强跟踪滤波器的量测向量和第一噪声协方差矩阵;根据量测向量和第一噪声协方差矩阵,确定车辆的行驶状态。如此,通过经过训练的循环神经网络对第一行驶数据进行处理,可以获得较为准确的第二行驶数据,进一步地,根据第二行驶数据可以确定出准确性较高的跟踪滤波器的量测向量和第一噪声协方差矩阵,基于该量测向量和第一噪声协方差矩阵,可以实现强跟踪滤波器对车辆状态的准确估计,提高车辆状态估计的精度。


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    Title :

    Vehicle state determination method, device and equipment and readable storage medium


    Additional title:

    一种车辆状态确定方法、装置、设备及可读存储介质


    Contributors:
    ZHANG WEI (author) / ZHAO HESEN (author) / XU QINGLONG (author)

    Publication date :

    2024-07-02


    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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