The invention present application relates to a method for determining a current position (xk+1, yk+1) of a motor vehicle relative to an initial position (xk, yk) previously held by the motor vehicle. Changes in the wheel position between the initial position (xk, yk) and the current position (xk+1, yk+1) are measured for at least two wheels of the motor vehicle. A motion vector of the motor vehicle is individually calculated from each of the wheel position changes. The individual motion vectors are then averaged. The current position (xk+1, yk+1) is then determined by adding the averaged motion vector, which, starting from a reference direction, has been rotated by a yaw angle of the motor vehicle, wherein the yaw angle is determined using a yaw rate provided by a yaw rate sensor of the motor vehicle. The invention also relates to a position determination system and to a motor vehicle equipped with such a system.
Method for determining a relative position of a motor vehicle, position determination system for a motor vehicle and motor vehicle
2021-08-03
Patent
Electronic Resource
English
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