The invention provides a trajectory prediction method of a three-axis vehicle, a vehicle-mounted controller, a vehicle and a storage medium, and relates to the technical field of automatic driving. In the running process of the vehicle, the vehicle speed of the vehicle at the current moment and the rotating angle of each axle are collected, the slip angle and the cornering stiffness of each axle at the current moment are calculated based on the parameter information of the vehicle and the vehicle speed and the rotating angle of each axle at the current moment, and then the slip angle and the cornering stiffness of each axle are calculated according to the parameter information of the vehicle and the cornering information and the rotating angle of each axle at the current moment. According to the scheme, only the vehicle speed and the rotation angles of all the shafts of the vehicle at the current moment need to be collected, excessive environment information does not need to be collected through a sensor, the anti-interference performance is high, excessive complex calculation processing is not needed, and prediction of the running track of the vehicle can be achieved; meanwhile, the dynamic model adopted in the scheme is constructed based on the characteristics of the three-axle vehicle, so that the accuracy of a calculation result can be ensured.

    本申请提供三轴车辆的轨迹预测方法、车载控制器、车辆及存储介质,涉及自动驾驶技术领域。在车辆行驶过程中,通过采集车辆在当前时刻的车速与各轴的转角,并基于车辆的参数信息与当前时刻的车速与各轴的转角,计算得到当前时刻的各轴的侧偏角与侧偏刚度,再通过车辆的参数信息、当前时刻的各轴的侧偏信息与转角,预测得到车辆在当前时刻的下一时刻的轨迹信息,即本方案只需采集车辆在当前时刻的车速与各轴转角,不需要通过传感器采集过多的环境信息,抗干扰性强,且不需要过多复杂的计算处理,就能够实现对车辆行驶轨迹的预测;同时,本方案所采用的动力学模型是基于三轴车辆的自身特性构建得到的,这样,可以确保计算结果的准确性。


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    Title :

    Track prediction method of three-axis vehicle, vehicle-mounted controller, vehicle and storage medium


    Additional title:

    三轴车辆的轨迹预测方法、车载控制器、车辆及存储介质


    Contributors:
    QIAN CHEN (author) / YI DONGXU (author) / REN XIN (author) / YAN LEI (author)

    Publication date :

    2025-01-03


    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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