The invention provides a hub early warning method and device based on four-wheel steering, a storage medium and a vehicle. The method comprises the steps that obstacles around a hub of a vehicle are detected; according to the detected obstacle position information and the predicted driving track of the vehicle, determining the obstacle avoidance distance of the vehicle and the relative position of the obstacle and the circle center of the predicted driving track, the relative position is used for representing that the obstacle and the circle center of the predicted driving track are relatively located on the same side or different sides of the longitudinal axis of the vehicle, and the obstacle avoidance distance is the distance from the obstacle to the predicted driving track; and switching a current steering mode based on the obstacle avoidance distance, the relative position and the current steering mode of the vehicle, and/or triggering a driving early warning strategy of the vehicle. According to the method, the flexibility of the driving track in the vehicle driving process can be improved, effective and autonomous obstacle avoidance of the vehicle is achieved, and the obstacle avoidance effect of the vehicle is improved.
本发明提供了基于四轮转向的轮毂预警方法、装置、储存介质及车辆。所述方法包括:对车辆的轮毂周围的障碍物进行检测;根据检测到的障碍物位置信息以及所述车辆的预测行驶轨迹,确定所述车辆的避障距离及所述障碍物与所述预测行驶轨迹圆心的相对位置,所述相对位置用于表征所述障碍物与所述预测行驶轨迹的圆心相对位于所述车辆纵轴线的同侧或异侧,所述避障距离为所述障碍物到所述预测行驶轨迹的距离;基于所述避障距离、所述相对位置以及所述车辆的当前转向模式,对所述当前转向模式进行切换,和/或,触发所述车辆的行驶预警策略。所述方法可提高车辆行驶过程中驾驶轨迹的灵活度,进而实现车辆的有效自主避障,提高车辆避障效果。
Hub early warning method and device based on four-wheel steering, storage medium and vehicle
基于四轮转向的轮毂预警方法、装置、存储介质及车辆
2023-03-07
Patent
Elektronische Ressource
Chinesisch
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