The invention relates to a vehicle positioning method and device, a controller, a vehicle and a storage medium, and the method comprises the steps: determining a first yaw angle at a current moment according to wheel speed pulse values at the current moment and an initial moment; according to the wheel speed pulse values of the current moment and the previous moment and the steering wheel rotating angle of the previous moment, the target compensation amount of the first yaw angle is determined; and determining the position of the vehicle according to the wheel speed pulse values at the current moment and the previous moment, the first yaw angle, the target compensation amount and the driving direction signal at the previous moment. Meanwhile, the target compensation amount of the first yaw angle is determined according to the wheel speed pulse value and the steering wheel rotation angle, the compensated first yaw angle is obtained according to the target compensation amount, it is guaranteed that the yaw angle obtained after compensation is more accurate, and the vehicle positioning accuracy is improved. Besides, the wheel speed pulse value, the driving direction signal and the steering wheel angle required during vehicle positioning can be obtained through the original sensors on the vehicle, other additional sensors are not needed, and the vehicle positioning cost is low.
本公开涉及一种车辆定位方法、装置、控制器、车辆及存储介质,方法包括:根据当前时刻和初始时刻的轮速脉冲值,确定当前时刻的第一偏航角;根据当前时刻和其前一时刻的轮速脉冲值、前一时刻的方向盘转角,确定第一偏航角的目标补偿量;根据当前时刻和其前一时刻的轮速脉冲值、第一偏航角、目标补偿量及前一时刻的行驶方向信号,确定车辆的位置。同时根据轮速脉冲值和方向盘转角来确定第一偏航角的目标补偿量,并根据目标补偿量得到补偿后的第一偏航角,保证补偿后所得的偏航角更加精准,提升车辆定位精度。另外,车辆定位时所需要的轮速脉冲值、行驶方向信号及方向盘转角,通过车辆上原有的传感器即可获取,无需额外其他传感器,车辆定位成本低。
Vehicle positioning method and device, controller, vehicle and storage medium
车辆定位方法、装置、控制器、车辆及存储介质
2024-05-21
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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