The invention discloses an intelligent parking vehicle positioning method applied to a vehicle, and the method comprises the steps: collecting a rear wheel speed, a course angle and a front wheel steering angle, determining a first vehicle state variable and a first system state equation, and determining a first Jacobian matrix and a second Jacobian matrix; determining a current estimated value according to the rear wheel speed, the course angle, the first Jacobian matrix and the historical estimated value; according to the estimation process noise and the first Jacobian matrix, determining an error covariance matrix estimation value, and further determining a Kalman filtering gain matrix; determining a current estimation error according to the second Jacobian matrix and the historical estimation error; according to the current estimation error, the Kalman filtering gain matrix, the second Jacobian matrix, the current estimation value and the error covariance matrix estimation value, a state variable estimation value and an error covariance matrix are determined, control parameters are adjusted to determine the parking position of the target vehicle, and the vehicle positioning accuracy can be improved.
本发明公开了一种应用于车辆的智能泊车车辆定位的方法,所述方法包括:采集后轮轮速、航向角以及前轮转向角,确定第一车辆状态变量和第一系统状态方程,进而确定第一和第二雅克比矩阵;根据后轮轮速、航向角、第一雅克比矩阵和历史估计值,确定当前估计值;根据估计过程噪声、第一雅克比矩阵,确定误差协方差矩阵估计值,进而确定卡尔曼滤波增益矩阵;根据第二雅克比矩阵和历史估算误差,确定当前估算误差;根据当前估算误差、卡尔曼滤波增益矩阵、第二雅克比矩阵、当前估计值和误差协方差矩阵估计值,确定状态变量估计值和误差协方差矩阵,调整控制参数,以确定目标车辆在泊车位置,可以提高车辆定位的精确度。
Intelligent parking vehicle positioning method applied to vehicle
一种应用于车辆的智能泊车车辆定位的方法
2023-04-04
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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