Vehicle attitude calculation method and device

A technology of vehicle attitude and calculation method, which is applied in measurement devices, instruments, radio wave measurement systems, etc. to achieve stable and accurate detection and cost reduction.

Inactive Publication Date: 2019-01-04
CHENGDU JINGWEI TECH CO LTD
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Problems solved by technology

[0003] In order to overcome the above-mentioned deficiencies in the prior art, the purpose of this application

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  • Vehicle attitude calculation method and device
  • Vehicle attitude calculation method and device

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Embodiment Construction

[0039] In the process of implementing the following embodiments, the inventors of the present application found that the placement of the existing positioning sensors is relatively simple and irregular, and the position information obtained by the positioning system is inaccurate. At the same time, due to the limitation of the placement of the sensors, the system Unstable, once the positioning sensor is abnormal, the system will be paralyzed.

[0040] In addition, currently in the detection of attitude and direction of autonomous vehicles, various sensors have their unavoidable shortcomings, which will lead to failure to acquire attitude data, and their cost is also very high. The method of using a single positioning data to obtain the attitude also has great limitations. The existing positioning system obtains only one positioning point, and cannot know the direction and size based on more positioning information. On the one hand, the lack of positioning information makes it ...

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Abstract

The embodiment of the invention provides a vehicle attitude calculation method and device. The vehicle attitude calculation method comprises the steps of obtaining positioning signals sent by at leasttwo positioning sensors; calculating position coordinates of the at least two positioning sensors according to the positioning signals; calculating and analyzing positioning information of any two positioning sensors in the position coordinates of the at least two positioning sensors based on a preset vehicle model to obtain an attitude vector between the any two positioning sensors; and calculating attitude and heading information of the automatic driving vehicle according to the attitude vector and a pre-established relative coordinate system, wherein the preset vehicle model includes position parameters of the positioning sensors at each predetermined position on the automatic driving vehicle. Therefore, relatively reliable and stable positioning data can be obtained even if some of the positioning sensors are abnormal. Meanwhile, the attitude can be detected stably and accurately based on the obtained positioning information, there is no need to separately set various attitude detection sensors, and thus the cost is greatly reduced.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular, to a method and device for calculating vehicle attitude. Background technique [0002] At present, in the detection of attitude and direction of self-driving vehicles, it is often necessary to set up a variety of sensors for detecting attitude. However, various sensors have their unavoidable shortcomings, which will lead to failure to obtain attitude data, or large errors in the determination of attitude and direction. Moreover, the cost of combining multiple sensors separately is also very high. The method of using a single positioning data to obtain the attitude also has great limitations. For example, the existing positioning method obtains only one positioning point, and cannot know the direction and size based on more positioning information. On the one hand, the lack of positioning information leads to the inability to obtain accurate attitude data. On th...

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Application Information

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IPC IPC(8): G01S5/02
CPCG01S5/0247
Inventor 严炜严鸿杨易锋邹维谢虎
Owner CHENGDU JINGWEI TECH CO LTD
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