The invention discloses a position and orientation estimating method for a self-driving car. The position and orientation estimating method includes the following steps: firstly, according to the preset sampling period, obtaining the speed of the front wheels of the self-driving car by virtue of a wheel speed sensor, and meanwhile, obtaining the steering wheel angle of the self-driving car by adopting a steering wheel angle sensor; secondly, computing the center steering angle of front axle of the car as per the steering wheel angle of the car; and finally, according to the current speed of the front wheels and center steering angle of the car, conducting iterative computation to obtain the position and course angle of the car at the previous moment, thus obtaining the position and course angle of the car at the current moment. According to the method disclosed by the invention, the position and orientation estimation for the car can be achieved by virtue of the wheel speed sensor and the steering wheel angle sensor, with the help of simple integral algorithm. The method is low in use cost as compared with a method relying on the high precision sensor, the algorithm is simple and easy to realize, and the method can be widely applied to the self-driving industry.
Position and orientation estimation method for self-driving car
2015-12-23
Patent
Electronic Resource
English
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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