The invention discloses a vehicle self-positioning online calibration method, and relates to the technical field of intelligent parking. The method comprises the steps of calibrating the pulse length of a tire and calibrating the turning radius; the calibration of the tire pulse length comprises the steps that an RTK differential device for a target vehicle is installed; a vehicle positioning algorithm is manually triggered to start calibration, and then the vehicle positioning algorithm starts to record the position information of the current vehicle; in an open area, the vehicle linearly travels for a certain distance L along the current path; when the driving distance of the vehicle exceeds L, the vehicle positioning system collects vehicle position information at the moment; and the driving distance calculated by the RTK differential positioning system is used as a reference value, so that the driving distance is calibrated as the pulse length L0 of four wheels. The RTK differential device is used for online calibration of the tire pulse width and the vehicle running radius of the vehicle, so that calibration errors caused by human intervention are avoided, the vehicle positioning precision is improved, and the calibration workload of the vehicle positioning algorithm is greatly reduced.
本发明公开了一种车辆自定位在线标定方法,涉及智能泊车技术领域。本发明包括轮胎脉冲长度的标定以及转弯半径的标定;所述轮胎脉冲长度的标定包括如下步骤:对于目标车辆安装RTK差分装置;手动触发车辆定位算法开始标定,然后车辆定位算法开始记录当前车辆的位置信息;在空旷区域,车辆沿着当前路径直线行驶一定距离L;当车辆行驶距离超过L时,车辆定位系统收集此时的车辆位置信息;根据RTK差分定位系统计算的行驶距离作为参考值,从而标定为四个车轮的脉冲长度L0。本发明利用RTK差分装置进行车辆的轮胎脉冲宽度和车辆行驶半径的在线标定,从而避免了人为干预的标定误差,提升了车辆定位精度,且极大缩减了车辆定位算法标定的工作量。
Vehicle self-positioning online calibration method
一种车辆自定位在线标定方法
2021-09-10
Patent
Electronic Resource
Chinese
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