The invention discloses a curvature calculation method and device for an unmanned vehicle, equipment and a medium. The method comprises the steps of obtaining vehicle body description information corresponding to a target unmanned vehicle in real time; obtaining vehicle dynamics description information corresponding to the target unmanned vehicle; according to the vehicle yaw velocity, the vehicle speed, the vehicle steering wheel angle and the vehicle dynamics description information, a plurality of joint description curvatures are obtained through calculation; and performing weight fusion processing on the plurality of joint description curvatures through a pre-constructed first fusion weight to obtain a vehicle curvature corresponding to the target unmanned vehicle. The problem that traffic accidents are likely to happen due to the fact that the calculated curvature of the vehicle is low in accuracy is solved, the accuracy of vehicle curvature calculation is improved, the calculated amount of vehicle curvature calculation is reduced, and the safety and reliability of unmanned driving of the vehicle are improved.
本发明公开了一种无人驾驶车辆的曲率计算方法、装置、设备及介质。通过实时获取目标无人驾驶车辆对应的车身描述信息;获取所述目标无人驾驶车辆对应的车辆动力学描述信息;根据所述车辆横摆角速度、所述车辆速度、所述车辆方向盘转角和所述车辆动力学描述信息,计算得到多个联合描述曲率;通过预先构建的第一融合权重,对所述多个联合描述曲率进行权重融合处理,得到与目标无人驾驶车辆对应的车辆曲率。解决了对于车辆计算出的曲率准确率低而造成的容易发生交通事故的问题,提高了车辆曲率计算的准确率,减轻了车辆曲率计算的计算量,提高了车辆无人驾驶的安全性和可靠性。
Curvature calculation method and device of unmanned vehicle, equipment and medium
一种无人驾驶车辆的曲率计算方法、装置、设备及介质
2023-09-05
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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