The invention discloses a pose obtaining method, computer equipment, a readable storage medium and a motor vehicle, and relates to the technical field of automatic driving. When the motor vehicle with an automatic parking function runs the automatic parking function, the pose of a vehicle body is obtained through the pose obtaining method; parking space angular point information, IMU information and wheel speed meter information shot by each frame of visual sensor are cyclically performed by the following steps: performing iterative updating on a state vector and a state covariance by adopting an MSCKF framework, and performing prediction by utilizing all IMU data between adjacent frames; updating the speed in the state vector according to the speed of the wheel speed meter; processing the obtained parking space angular points to form feature points; updating the feature points to a state vector and a covariance thereof; and adding the state of the observation point of the visual sensor into the state vector, and updating and outputting the state vector and the covariance thereof. According to the method, the visual recognition angular points are adopted as feature point input, and the precision of pose calculation during automatic parking is improved in combination with the IMU and the wheel speed meter.

    本发明公开了一种位姿获取方法、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,带有自动泊车功能的机动车在运行自动泊车功能时,通过位本方法获取车身的位姿,对每一帧视觉传感器拍摄得到的车位角点信息、IMU信息、轮速计信息循环如下步骤:采用MSCKF框架对状态向量及状态协方差进行迭代更新,利用相邻帧之间的所有IMU数据进行预测;由轮速计的速度对状态向量中的速度进行更新;对得到的车位角点进行处理形成特征点;将特征点更新至状态向量及其协方差;将视觉传感器观测点状态加入到状态向量中,更新并输出状态向量及其协方差。本发明采用视觉识别角点作为特征点输入,结合IMU和轮速计,提高了自动泊车时位姿计算的精度。


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    Titel :

    Pose acquisition method, computer equipment, readable storage medium and motor vehicle


    Weitere Titelangaben:

    一种位姿获取方法、计算机设备、可读存储介质及机动车


    Beteiligte:
    QIN MINGYU (Autor:in) / HUANG DONGZE (Autor:in)

    Erscheinungsdatum :

    2023-06-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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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