The invention provides an intelligent parking dead reckoning method and device and a storage medium. The method comprises the following steps: initializing a vehicle state vector, a system error covariance matrix, a system error matrix and an observation noise matrix of a vehicle at the current moment; according to the vehicle state vector at the previous moment, a predicted value of the vehicle state vector at the current moment is calculated through a vehicle kinematic model, and a state transition matrix is calculated based on a kinematic equation of the predicted value; calculating an observation matrix based on the front wheel driving distance, the rear axle center speed and the vehicle angular speed, and calculating a Kalman gain; on the basis of the predicted value, the Kalman gain and the observed value of Kalman filtering, updating the vehicle state vector to an optimal estimated value, and updating a system error covariance matrix; and performing iterative operation so as to continuously optimize the optimal estimation value of the vehicle state vector, and continuously outputting a dead reckoning result. According to the invention, the cost is reduced, and the precision and accuracy of the parking dead-reckoning positioning result are improved.
本申请提供一种智能泊车航位推算方法、装置及存储介质。该方法包括:对车辆在当前时刻的车辆状态向量、系统误差协方差矩阵、系统误差矩阵和观测噪声矩阵进行初始化;根据前一时刻的车辆状态向量,利用车辆运动学模型计算当前时刻车辆状态向量的预测值,并基于预测值的运动学方程计算状态转移矩阵;基于前轮行驶距离、后轴中心速度和车辆角速度计算观测矩阵,并计算卡尔曼增益;基于预测值、卡尔曼增益及卡尔曼滤波的观测值,将车辆状态向量更新至最优估计值,对系统误差协方差矩阵进行更新;执行迭代操作,以便对车辆状态向量的最优估计值进行持续优化,并持续输出航位推算结果。本申请降低成本,提升泊车航位定位结果的精度和准确性。
Intelligent parking dead reckoning method and device and storage medium
智能泊车航位推算方法、装置及存储介质
2025-01-07
Patent
Electronic Resource
Chinese
DEAD RECKONING METHOD OF AUTOMATIC PARKING POSITIONING SYSTEM
European Patent Office | 2020
|DEAD RECKONING METHOD AND APPARATUS FOR VEHICLE DEVICE AND STORAGE MEDIUM
European Patent Office | 2022
Dead reckoning method and apparatus for vehicle, device and storage medium
European Patent Office | 2022
|DEAD RECKONING METHOD AND APPARATUS FOR VEHICLE DEVICE AND STORAGE MEDIUM
European Patent Office | 2021
|TIBKAT | 1970
|