Title:
VEHICLE YAW ANGLE PREDICTION METHOD AND DEVICE AND COMPUTER READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/045741
Kind Code:
A1
Abstract:
Disclosed in embodiments of the present disclosure are a vehicle yaw angle prediction method and device and a computer readable storage medium. The method comprises: on the basis of a vehicle center of mass traveling speed and yaw angle sensing data of a target vehicle, determining a vehicle yaw angle of the target vehicle at the current moment; determining a turning radius and a tire sideslip angle of wheels of the target vehicle; on the basis of the equivalent velocity, turning radius and tire sideslip angle of the wheels of the target vehicle in a wheel traveling direction, determining the actual speed of the wheels in a vehicle traveling direction; determining a vehicle yaw angle weighted angular velocity of the wheels on the basis of the actual speed of the wheels of the target vehicle; and on the basis of the vehicle yaw angle at the current moment and the vehicle yaw angle weighted angular velocity of the wheels, determining a target vehicle yaw angle of the target vehicle at a predetermined prediction moment.
Inventors:
GAO YANXI (CN)
GU YUAN (CN)
PANG ZHUYIN (CN)
CHEN BO (CN)
LV YING (CN)
HAN JIAQI (CN)
WANG YIMENG (CN)
GU YUAN (CN)
PANG ZHUYIN (CN)
CHEN BO (CN)
LV YING (CN)
HAN JIAQI (CN)
WANG YIMENG (CN)
Application Number:
PCT/CN2023/098393
Publication Date:
March 07, 2024
Filing Date:
June 05, 2023
Export Citation:
Assignee:
CHINA FAW CO LTD (CN)
International Classes:
B60W40/105; B60W40/112
Foreign References:
| CN115257782A | 2022-11-01 | |||
| CN101218136A | 2008-07-09 | |||
| DE10247991A1 | 2004-04-29 | |||
| CN113022580A | 2021-06-25 | |||
| CN110962849A | 2020-04-07 |
Attorney, Agent or Firm:
KSK IP AGENCY (CN)
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