The invention discloses a vehicle self-positioning method serving four-wheel steering intelligent parking, and belongs to the technical field of intelligent parking. The method comprises the following steps: stp1, acquiring wheel speed pulses, wheel speeds and wheel movement direction signals of four tires, and acquiring a front wheel rotation angle delta F and a rear wheel rotation angle delta R; stp2, constructing a four-wheel steering model under a low-speed working condition; stp3, calculating a vehicle driving distance and a course angle at the virtual rear axle center point O1; stp4, calculating the position information of the central point O1 of the virtual rear axle; and Stp5, according to the vehicle position information and course angle information at the virtual rear axle center, calculating real-time position information of the front axle center point and the rear axle center point O1 in real time. The method is used for calculating a vehicle self-positioning algorithm of a four-wheel steering system at a low speed in real time and outputting position information of a vehicle in real time in a mode of constructing the virtual rear axle center point.

    本发明公开了一种服务于四轮转向智能泊车的车辆自定位方法,属于智能泊车技术领域。本发明包括步骤:Stp1、获取四个轮胎的轮速脉冲、轮速、车轮运动方向信号,并获取前轮转角δF、后轮转角δR;Stp2、构建低速工况下的四轮转向模型;Stp3、计算虚拟后轴中心点O1处的车辆行驶距离、航向角;Stp4、计算虚拟后轴中心点O1处的位置信息;Stp5、根据虚拟后轴中心处的车辆位置信息和航向角信息,可实时计算出前轴中心点以及后轴中心点O1的实时位置信息。本发明通过构建虚拟的后轴中心点的方式,用以实时计算低速下四轮转向系统的车辆自定位算法,实时输出车辆的位置信息。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle self-positioning method serving four-wheel steering intelligent parking


    Additional title:

    一种服务于四轮转向智能泊车的车辆自定位方法


    Contributors:
    ZU CHUNSHENG (author) / ZHANG CHENGYU (author) / ZHANG FEI (author) / YUAN YANCHENG (author) / CAO JIANG (author)

    Publication date :

    2021-08-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



    Parking planning method based on four-wheel steering and vehicle

    LI QIAN | European Patent Office | 2022

    Free access

    Narrow space parking motion planning method for four-wheel steering vehicle

    TANG CHEN / SONG YUFEI / XIONG LU | European Patent Office | 2024

    Free access

    Parking planning method for four-wheel steering vehicle in mining area

    DUAN XINGJI / HU RUI / HAN JUNRU et al. | European Patent Office | 2023

    Free access

    All-wheel steering vehicle parallel parking path planning method considering positioning uncertainty

    ZHANG XIAOLONG / LIN WENJIE / DU HENG et al. | European Patent Office | 2023

    Free access

    Intelligent omnibearing single-wheel steering parking mechanism

    LIANG XIAOMING / LI ZHENPEI | European Patent Office | 2020

    Free access