The invention discloses a vehicle self-positioning method serving four-wheel steering intelligent parking, and belongs to the technical field of intelligent parking. The method comprises the following steps: stp1, acquiring wheel speed pulses, wheel speeds and wheel movement direction signals of four tires, and acquiring a front wheel rotation angle delta F and a rear wheel rotation angle delta R; stp2, constructing a four-wheel steering model under a low-speed working condition; stp3, calculating a vehicle driving distance and a course angle at the virtual rear axle center point O1; stp4, calculating the position information of the central point O1 of the virtual rear axle; and Stp5, according to the vehicle position information and course angle information at the virtual rear axle center, calculating real-time position information of the front axle center point and the rear axle center point O1 in real time. The method is used for calculating a vehicle self-positioning algorithm of a four-wheel steering system at a low speed in real time and outputting position information of a vehicle in real time in a mode of constructing the virtual rear axle center point.
本发明公开了一种服务于四轮转向智能泊车的车辆自定位方法,属于智能泊车技术领域。本发明包括步骤:Stp1、获取四个轮胎的轮速脉冲、轮速、车轮运动方向信号,并获取前轮转角δF、后轮转角δR;Stp2、构建低速工况下的四轮转向模型;Stp3、计算虚拟后轴中心点O1处的车辆行驶距离、航向角;Stp4、计算虚拟后轴中心点O1处的位置信息;Stp5、根据虚拟后轴中心处的车辆位置信息和航向角信息,可实时计算出前轴中心点以及后轴中心点O1的实时位置信息。本发明通过构建虚拟的后轴中心点的方式,用以实时计算低速下四轮转向系统的车辆自定位算法,实时输出车辆的位置信息。
Vehicle self-positioning method serving four-wheel steering intelligent parking
一种服务于四轮转向智能泊车的车辆自定位方法
2021-08-20
Patent
Elektronische Ressource
Chinesisch
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