The invention provides a kinematic model self-adaption method and device in vehicle positioning, equipment and a medium. The method comprises the steps that speed information of a current vehicle body in the vehicle driving process is acquired; selecting the most suitable kinematic model from a plurality of preset kinematic models including a constant rotation rate and speed model, a constant rotation rate and acceleration model and a constant acceleration model based on the speed information; and performing positioning prediction on the current vehicle in different motion states through the kinematic model. Compared with the prior art in which the kinematics model predicted in the positioning scheme based on filtering is mostly a single model, the method is suitable for a scene in which short-time positioning prediction is carried out through the kinematics model, and the speed information of the vehicle motion state is obtained; a more appropriate kinematic model can be adaptively selected under the scenes of different motion states of the vehicle, optimal position prediction is provided, and higher positioning precision is obtained compared with that obtained by using a single kinematic model as a whole.

    本发明提供的车辆定位中运动学模型自适应方法、装置、设备及介质,方法包括:获取车辆行驶中当前车体的速度信息;基于速度信息从恒定转率和速度模型、恒定转率和加速度模型和恒定加速度模型多个预设的运动学模型中选择最适用的运动学模型;通过该运动学模型对于当前车辆在不同运动状态下进行定位预测。相较于现有技术中基于滤波的定位方案中预测的运动学模型多为单一模型,本发明适用于通过运动学模型进行短时定位预测的场景,通过获取车辆运动状态的速度信息,能够在车辆不同运动状态的场景下自适应地选用更合适的运动学模型,提供最优的位置预测,比整体使用单个运动学模型获得更高的定位精度。


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    Titel :

    Kinematic model self-adaption method and device in vehicle positioning, equipment and medium


    Weitere Titelangaben:

    车辆定位中运动学模型自适应方法、装置、设备及介质


    Beteiligte:
    JIANG LINGXIN (Autor:in) / YE MAO (Autor:in) / PAN LILAN (Autor:in)

    Erscheinungsdatum :

    12.09.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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