The embodiment of the invention discloses an automatic parking positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the yaw velocity, the vehicle speed, the pulse tooth number and the rear wheel rotation direction of a vehicle at the current moment, and determining the course offset of the vehicle at the current moment according to the yaw velocity; the driving distance of the vehicle at the current moment is determined according to the pulse tooth number and the rotating direction of the rear wheels, the observed quantity at the current moment is constructed based on the yaw velocity and the vehicle speed, and the posterior estimation state quantity of the vehicle at the current moment is determined through a constant rotation rate velocity model; meanwhile, based on the reckoning pose, the course offset and the driving distance of the vehicle at the previous moment, the reckoning pose of the vehicle at the current moment is determined, finally, the final pose is obtained according to the posterior pose and the reckoning pose at the current moment, and positioning in the automatic parking process of the vehicle is achieved. The accuracy and robustness of vehicle positioning in the automatic parking process are improved.

    本公开实施例公开了一种自动泊车定位方法、装置、电子设备和存储介质,该方法通过获取车辆在当前时刻的横摆角速度、车速、脉冲齿数与后轮转动方向,根据横摆角速度确定车辆在当前时刻的航向偏移量,根据脉冲齿数与后轮转动方向确定车辆在当前时刻的行驶距离,并基于横摆角速度与车速构建当前时刻的观测量,通过恒定转率速度模型确定车辆在当前时刻的后验估计状态量,同时基于车辆在上一时刻的推算位姿、航向偏移量与行驶距离,确定车辆在当前时刻的推算位姿,最终根据当前时刻的后验位姿与推算位姿,得到最终位姿,实现对车辆自动泊车过程中的定位,提高了自动泊车过程中车辆定位的准确性与鲁棒性。


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    Title :

    Automatic parking positioning method and device, electronic equipment and storage medium


    Additional title:

    自动泊车定位方法、装置、电子设备和存储介质


    Contributors:
    LIU GEMENG (author) / ZHANG SHIJUAN (author) / ZHANG HAIQIAO (author) / HAN ZUOYUE (author)

    Publication date :

    2024-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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