The invention provides a vehicle self-positioning correction method used in a low-speed parking straight driving scene. The vehicle self-positioning correction method can improve parking positioning precision based on low cost. The method comprises the following steps: firstly, judging whether a to-be-parked vehicle is in a scene of crossing an obstacle in a low-speed driving state or not, and if the to-be-parked vehicle is in the low-speed driving state and crosses road bumps such as a deceleration strip, replacing the wheel speed pulse increment of a to-be-observed wheel with the wheel speed pulse increment of a wheel which still runs on a plane road section; unnecessary increment of wheel speed pulse caused by road section protrusion is avoided, and then the purpose of plane positioning correction is achieved.
本发明提供一种用于低速泊车直线行驶场景下的车辆自定位修正方法,其可以基于较低成本提升泊车定位精度。其首先判断待泊车辆是否处于低速行驶状态跨越障碍物的场景,如果待泊车辆处于低速行驶状态跨减速带等路面凸起物时,将尚在平面路段行驶的车轮的轮速脉冲增量替换掉待观察轮的轮速脉冲增量,避免因路段凸起而引起轮速脉冲不必要的增量,进而达到平面定位修正的目的。
Vehicle self-positioning correction method used in low-speed parking straight-line driving scene
一种用于低速泊车直线行驶场景下的车辆自定位修正方法
2024-05-03
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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