The invention discloses a vehicle rear wheel steering accurate positioning method based on sensor data analysis, and relates to the technical field of vehicle positioning, and the method comprises the steps: collecting multi-source data of a vehicle, and carrying out the preprocessing of the collected multi-source data; fusing the preprocessed multi-source data to generate an initial pose of the vehicle; feature extraction is carried out on the preprocessed multi-source data, and vehicle driving state recognition is carried out through the extracted features; a Kalman filter is initialized based on the initial pose of the vehicle, and parameters of the Kalman filter are dynamically adjusted based on the driving state of the vehicle; the course angle change rate and the turning radius of the vehicle are calculated, course angle change and the turning radius are brought into a Kalman filter, and the final pose of the vehicle is generated. According to the method, the parameters of the Kalman filter are dynamically optimized, the adaptability and robustness of the filter in different driving states are improved, the dynamic characteristics of the vehicle are reflected more accurately, and the positioning precision and reliability are remarkably improved.
本发明公开了一种基于传感器数据分析的车辆后轮转向精准定位方法,涉及车辆定位技术领域,包括,采集车辆的多源数据,并对采集到的多源数据进行预处理;将预处理后的多源数据进行融合,生成车辆初始的位姿;对预处理后的多源数据进行特征提取,通过提取的特征进行车辆行驶状态识别;基于车辆初始的位姿,初始化卡尔曼滤波器,基于车辆行驶状态,动态调整卡尔曼滤波器的参数;计算车辆的航向角变化率和转弯半径,将航向角变化和转弯半径纳入卡尔曼滤波器中,生成车辆最终的位姿。本发明动态优化了卡尔曼滤波器的参数,提高了滤波器在不同行驶状态下的适应性和鲁棒性,更准确地反映了车辆的动态特性,显著提升了定位的精度和可靠性。
Vehicle rear wheel steering accurate positioning method based on sensor data analysis
一种基于传感器数据分析的车辆后轮转向精准定位方法
2025-02-18
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 |
Vehicle rear wheel steering positioning method based on multi-sensor information fusion
European Patent Office | 2025
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