The invention provides an automobile positioning method based on an Ackerman steering model. The automobile positioning method based on the Ackerman steering model comprises the following steps that before an automobile is automatically parked, a mapping table between a steering wheel corner and a front wheel corner of the automobile is obtained; parameters of the Ackerman steering model is determined, and a sampling coordinate system is established; a conversion formula of the automobile rotation curvature and the front wheel corner is determined; when the automobile is automatically parked,each time of sampling is carried out, the steering wheel corner of the automobile at the current sampling moment is obtained in real time, the front wheel corner is determined according to a mapping table, and then the real-time curvature and the turning radius are calculated according to the conversion formula; an automobile angular speed is calculated according to the automobile turning radius and the automobile speed; variation of a course angle is obtained according to the angular velocity so as to determine the course angle relative to the sampling starting point; and a coordinate value of the automobile at the current sampling moment is obtained according to the automobile speed and the sampling time interval. According to the automobile positioning method based on the Ackerman steering model, dependence on a positioning sensor is avoided, and the degree of parallelism of development of each module in an automatic parking system is improved.
本发明提供一种基于阿克曼转向模型的汽车定位方法,包括:在汽车进行自动泊车前,进行:获取汽车的方向盘转角和前轮转角之间的映射表;确定阿克曼转向模型的参数,并建立采样坐标系;确定汽车旋转曲率与前轮转角的转换公式;在汽车进行自动泊车时,每一次采样时进行:实时获取当前采样时刻汽车的方向盘转角,并根据映射表确定前轮转角,再根据转换公式计算实时曲率以及转弯半径;根据汽车转弯半径和车速计算汽车角速度;根据角速度得到航向角的变化量,从而确定相对于采样起点的航向角;根据车速及采样时间间隔,得到当前采样时刻汽车的坐标值。本发明避免了对定位传感器的依赖,提高了自动泊车系统中各模块开发的并行度。
Automobile positioning method based on Ackerman steering model
一种基于阿克曼转向模型的汽车定位方法
2020-12-15
Patent
Electronic Resource
Chinese
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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