The embodiment of the invention discloses a method and device for determining the speed direction of a target vehicle, electronic equipment and a storage medium. The method comprises the steps that the current frame movement orientation, the current frame driving speed and the current frame steering angle speed of the target vehicle are obtained; when the current frame turning radius of the target vehicle is smaller than the turning radius threshold value, the speed direction of the target vehicle is determined according to the current frame movement orientation, the current frame driving speed, the current frame steering angular speed and the vehicle length of the target vehicle, and the current frame turning radius is determined according to the current frame driving speed and the current frame steering angular speed. The method solves the problem of unstable speed and direction caused by unstable reference points, improves the accuracy of speed and direction prediction of the target vehicle and the driving safety and smoothness of the vehicle, does not depend on a camera, a millimeter wave radar and other sensors, and is easy to implement. And the requirements on the performance of the laser radar and the hardware of the unmanned vehicle are not high, and the application range is wide.

    本公开实施例公开了一种目标车辆的速度方向确定方法、装置、电子设备和存储介质,该方法包括:获取目标车辆的当前帧运动朝向、当前帧行驶速度以及当前帧转向角速度;当目标车辆的当前帧转弯半径小于转弯半径阈值时,根据当前帧运动朝向、当前帧行驶速度、当前帧转向角速度以及目标车辆的车长确定目标车辆的速度方向,其中,当前帧转弯半径根据当前帧行驶速度和当前帧转向角速度确定。本公开解决了参考点不稳定导致的速度方向不稳定的情况,提高了目标车辆的速度方向预测的准确性以及自车行车的安全性和平顺性,而且本公开不依赖摄像头、毫米波雷达等传感器,且对激光雷达的性能以及无人驾驶车辆的硬件要求不高,应用面较广。


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    Title :

    Method and device for determining speed direction of target vehicle, equipment and medium


    Additional title:

    目标车辆的速度方向确定方法、装置、设备和介质


    Contributors:
    WANG WENBIN (author) / HUANG XIANLOU (author) / ZHANG DAN (author)

    Publication date :

    2023-10-27


    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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