The invention discloses a low-speed four-wheel steering vehicle pose calculation method based on a wheel speed pulse. The method comprises the following steps: constructing a local coordinate system; calculating front and rear axle midpoint course angle change information and front and rear axle midpoint position change information of the vehicle in each period; kalman filtering processing is carried out, and the front and rear axle pose variation of the vehicle in the period is obtained; according to the center pose information of the front and rear axles of the vehicle in the current period, accumulating change values in the current period to obtain the center pose information of the front and rear axles of the vehicle at the end of the current period; and after relevant boundary condition constraint is carried out on the center pose information of the front and rear axles of the vehicle at the end of the period, final vehicle pose information of the period is output. The invention further provides a low-speed four-wheel steering vehicle pose calculation device based on the wheel speed pulse. According to the method, the positioning problem of the four-wheel steering vehicle can be solved, errors are converged, and the vehicle pose information is accurately output.

    本发明公开了一种基于轮速脉冲的低速下的四轮转向车辆位姿计算方法,其包括如下步骤:构建局部坐标系;计算各周期车辆前后轴中点航向角变化信息和前后轴中点位置变化信息;进行卡尔曼滤波处理,得到车辆在该周期前后轴位姿变化量;根据本周期车辆前后轴中心位姿信息,累加本周期变化值得到本周期结束时车辆前后轴中心位姿信息;将上述本周期结束时车辆前后轴中心位姿信息进行相关边界条件约束后输出最终的本周期车辆位姿信息。本发明还提供一种基于轮速脉冲的低速下的四轮转向车辆位姿计算装置。本发明能解决四轮转向车辆的定位问题,以及收敛误差,准确输出车辆位姿信息。


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    Titel :

    Method and device for calculating pose of four-wheel steering vehicle at low speed based on wheel speed pulse


    Weitere Titelangaben:

    基于轮速脉冲的低速下的四轮转向车辆位姿计算方法及装置


    Beteiligte:
    HU SHICHEN (Autor:in) / ZHU YAKUN (Autor:in) / ZHANG JINGWEI (Autor:in) / LUO TIEPING (Autor:in) / HE SI (Autor:in)

    Erscheinungsdatum :

    01.03.2024


    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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