The invention discloses a positioning method for automatic parking and related equipment. The method comprises the following steps: reading a wheel speed pulse, a steering wheel angle, a transmission ratio, a rear wheel track and a yaw velocity of a vehicle; detecting whether the wheel speed pulse of the front wheel changes in a preset range or not and whether the wheel speed pulse of the rear wheel changes continuously and unidirectionally or not in the detection time window; if so, calculating a first moving distance of the vehicle according to the front wheel speed pulse, the transmission ratio and the steering wheel angle, and calculating a first course angle variable quantity of the vehicle according to the sampling interval and the yaw velocity; otherwise, a second moving distance is calculated according to the rear wheel speed pulse, and whether the rear wheel speed pulse changes continuously and unidirectionally or not is detected; if so, calculating a second course angle variable quantity according to the rear wheel speed pulse and the rear wheel track, otherwise, calculating a third course angle variable quantity according to the yaw velocity. And the vehicle course angle variation under different conditions is calculated according to different judgment results, so that accurate positioning is realized.

    本发明公开一种自动泊车的定位方法及相关设备,所述方法包括:读取车辆的轮速脉冲、方向盘转角、传动比、后轮距和横摆角速度;检测在检测时间窗口内前轮轮速脉冲是否发生预设范围内地变化,以及后轮轮速脉冲是否发生持续单向地变化;若同时发生变化则根据前轮轮速脉冲、传动比和方向盘转角计算车辆的第一移动距离,并根据采样间隔和横摆角速度计算车辆的第一航向角变化量;否则根据后轮轮速脉冲计算第二移动距离,并检测后轮轮速脉冲是否发生持续单向地变化;若发生变化根据后轮轮速脉冲和后轮距计算第二航向角变化量,否则根据横摆角速度计算第三航向角变化量。通过根据不同的判断结果计算不同条件下的车辆航向角变化量,实现精准定位。


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    Titel :

    Positioning method for automatic parking and related equipment


    Weitere Titelangaben:

    一种自动泊车的定位方法及相关设备


    Beteiligte:
    HE TIANYI (Autor:in) / QUE QIUGEN (Autor:in)

    Erscheinungsdatum :

    2024-01-02


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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