Title:
VEHICLE NAVIGATION METHOD AND DEVICE, ELECTRONIC APPARATUS AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/120066
Kind Code:
A1
Abstract:
A vehicle navigation method and device, an electronic apparatus and a storage medium. The vehicle navigation method comprises: according to a roll angle and a lateral acceleration of a vehicle, determining a left-right wheelspan of non-steering wheels of the vehicle; determining a heading angle of the vehicle according to the left-right wheelspan of the non-steering wheels, an outer wheel speed of the non-steering wheels, an inner wheel speed of the non-steering wheels and a vehicle kinematic model; acquiring vehicle pose information output by an inertial navigation system; performing compensation processing on the pose information, so as to obtain compensated pose information; determining a target heading angle of the vehicle according to the compensated pose information and the heading angle of the vehicle; and performing navigation processing on the vehicle according to the target heading angle of the vehicle.
Inventors:
CAI YIKE (CN)
HAN LEIJIN (CN)
HAN LEIJIN (CN)
Application Number:
PCT/CN2023/128202
Publication Date:
June 13, 2024
Filing Date:
October 31, 2023
Export Citation:
Assignee:
GUANGZHOU ASENSING TECH CO LTD (CN)
International Classes:
G01C21/16; G01C21/20; G01C21/34
Foreign References:
| CN116337053A | 2023-06-27 | |||
| CN112208515A | 2021-01-12 | |||
| CN111890951A | 2020-11-06 | |||
| US20030236603A1 | 2003-12-25 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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