The invention discloses a four-wheel steering automobile positioning method and related equipment. The method comprises the steps that the yaw velocity, the rear wheel speed and the rear wheel speed pulse of an automobile are obtained; calculating the turning radius of the rear wheel according to the wheel speed and the yaw velocity of the rear wheel; according to the rear wheel speed pulse at the current moment and the rear wheel speed pulse at the previous moment, the rear wheel speed pulse variable quantity is calculated; according to the rear wheel turning radius, the rear wheel speed pulse variable quantity and the rear wheel tread, the rear axle center moving distance is calculated; calculating the vehicle course angle variation by using the yaw velocity; the calculated rear axle center moving distance and the vehicle course angle variable quantity are substituted into a vehicle kinematic model to calculate vehicle positioning information, and efficient and rapid positioning of the four-wheel steering vehicle is achieved.
本发明公开了四轮转向汽车的定位方法及相关设备,所述方法包括:分别获取车辆的横摆角速度、后轮轮速和后轮轮速脉冲;根据后轮轮速和横摆角速度计算后轮转弯半径;根据当前时刻的后轮轮速脉冲和前一时刻的后轮轮速脉冲计算后轮轮速脉冲变化量;根据后轮转弯半径、后轮轮速脉冲变化量和后轮轮距计算后轴中心移动距离;利用横摆角速度计算车辆航向角变化量;通过将计算得到的后轴中心移动距离和车辆航向角变化量,代入车辆运动学模型中计算车辆定位信息,实现高效快捷地对四轮转向汽车进行定位。
Positioning method of four-wheel steering automobile and related equipment
四轮转向汽车的定位方法及相关设备
2023-12-22
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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