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.


    Access

    Download


    Export, share and cite



    Title :

    Position and orientation estimation method for self-driving car


    Contributors:
    CHEN SHENGJUN (author) / XIA HENG (author) / XIAO ZHIGUANG (author) / YAN XUE (author)

    Publication date :

    2015-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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





    SELF-POSITION ESTIMATION METHOD AND SELF-POSITION ESTIMATION DEVICE

    NANRI TAKUYA / TSUCHIYA CHIKAO / SANO YASUHITO et al. | European Patent Office | 2020

    Free access

    Uncertainty-Aware Estimation of Vehicle Orientation for Self-Driving Applications

    Cui, Henggang / Chou, Fang-Chieh / Charland, Jake et al. | IEEE | 2021


    SELF-POSITION ESTIMATION SYSTEM AND SELF-POSITION ESTIMATION METHOD

    YOKOYAMA DAIKI / CHIBA HIROYA / KAGEURA YOSHIYUKI et al. | European Patent Office | 2022

    Free access