The invention relates to a course error compensation method, system and device, a storage medium and a computer program product. The method comprises the following steps: acquiring a positioning course angle, a target course angle and a course error compensation angle; confirming that the vehicle is in a stable driving state; generating a course deviation angle in a stable driving state based on the positioning course angle, the target course angle and the course error compensation angle; when the course deviation angle exceeds a threshold value, updating a course error compensation angle according to the course deviation angle; and adjusting the actual course based on the updated course error compensation angle. By adopting the method, systematic errors are compensated through the course error compensation angle, so that the transverse control of automatic driving is more accurate, and the course precision is guaranteed to the greatest extent. And meanwhile, when the vehicle is subjected to structural deformation after being used for a long time, the course error compensation angle is adjusted and updated, so that the course error compensation angle can dynamically compensate systematic errors, and the control precision and safety of the full life cycle of the automatic driving vehicle are improved.

    本申请涉及一种航向误差补偿方法、系统、装置、存储介质和计算机程序产品。所述方法包括:获取定位航向角、目标航向角和航向误差补偿角;确认车辆处于平稳行车状态;基于定位航向角、目标航向角和航向误差补偿角生成平稳行车状态下的航向偏差角;在航向偏差角超出阈值时,根据航向偏差角更新航向误差补偿角;基于更新后的航向误差补偿角调整实际航向。采用本方法,通过航向误差补偿角补偿系统性误差,使得自动驾驶的横向控制更加准确,最大程度地保障了航向精度。同时在车辆经过长时间使用后发生结构变形时,对航向误差补偿角进行调整和更新,使得航向误差补偿角能够动态补偿系统性误差,提高自动驾驶车辆全生命周期的控制精度及安全性。


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    Title :

    Course error compensation method, system and device and storage medium


    Additional title:

    航向误差补偿方法、系统、装置和存储介质


    Contributors:
    HU ZHENGUO (author) / HOU FAWEI (author) / ZHANG ZHENLIN (author)

    Publication date :

    2023-06-23


    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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