The invention relates to a vehicle turning radius calculation method, terminal equipment and a storage medium, and the method comprises the steps: collecting the driving speed of each wheel in a vehicle driving process in real time through a wheel speed sensor in a vehicle; judging a turning direction according to a turning principle that the outer side wheel speed is greater than the inner side wheel speed; according to the driving speed of the left front wheel and the driving speed of the right front wheel, calculating the driving arc length of the left front wheel and the driving arc lengthof the right front wheel in single sampling time, and solving a binary equation set through a trigonometric function and a geometric position relation to obtain a left front wheel steering angle anda right front wheel steering angle; removing ambiguity values from the acquired multiple groups of data, averaging to obtain a final reliable left front wheel steering angle and a final reliable rightfront wheel steering angle, and finally calculating to obtain a left front wheel turning radius and a right front wheel turning radius. The method is simple to implement, high in accuracy, prospective, high in real-time performance, high in practicability, stable and reliable, does not need additional accessories, and has good application value and economic benefits.
本发明涉及一种车辆转弯半径计算方法、终端设备及存储介质,该方法中包括:利用车辆中的轮速传感器,实时采集车辆行驶过程中各车轮的行驶速度;依据外侧轮速度大于内侧轮速度的转弯原理判断转弯方向;根据左前轮行驶速度和右前轮行驶速度,计算得出单次取样时间内左前轮行驶弧长和右前轮行驶弧长,通过三角函数及几何位置关系求解二元方程组得出一组左前轮转向角和右前轮转向角,对采集的多组数据剔除歧义值后求平均得出最终可靠的左前轮转向角和右前轮转向角,最后计算得出左前轮转弯半径和右前轮转弯半径。本发明实现简单,准确度高,具有前瞻性,实时性高,实用性强,稳定可靠,无需额外增加配件,具有良好的应用价值和经济效益。
Vehicle turning radius calculation method, terminal equipment and storage medium
一种车辆转弯半径计算方法、终端设备及存储介质
2021-02-26
Patent
Elektronische Ressource
Chinesisch
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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