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Method for determining an orientation of a vehicle

A vehicle and attitude technology, applied in vehicle components, vehicle position/route/height control, distance measurement, etc., can solve problems such as inaccurate mathematical models

Inactive Publication Date: 2019-05-21
CONTINENTAL TEVES AG & CO OHG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Especially for driving tasks at low speeds or with low driving dynamics, this mathematical model is not precise enough

Method used

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  • Method for determining an orientation of a vehicle
  • Method for determining an orientation of a vehicle
  • Method for determining an orientation of a vehicle

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Embodiment Construction

[0064] Based on the basis figure 1 The basis for calculating the mileage has been described in the prior art, the following with the help of Figure 2 to Figure 6 The method according to the invention will be explained by means of which a more precise calculation of the vehicle yaw angle ψ is also possible, in particular for slow driving.

[0065] To illustrate, first in figure 2 The usual important parameters and motion variables of a road vehicle are shown in . Important parameters are, for example:

[0066] - wheelbase b of the front axle f ,

[0067] - Track b of the rear axle r ,as well as

[0068] - wheelbase l = l f +l r .

[0069] Important kinematic variables are, for example, the four wheel speeds V l , V 2 , V 3 , V 4 , Yaw rate and steering wheel angle δ SW . Motion variables can be directly measured and provided by four wheel sensors, rotational speed sensor and steering wheel sensor.

[0070] according to image 3 , at time t=T, the reference ...

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Abstract

The invention relates to a method for determining an orientation (Psi) of a vehicle relative to a spatially fixed coordinate system (xo-0-yo), the method comprising the following steps: determining atraveled distance (s,dS,DeltaS) of at least one reference point (P) of the vehicle and / or at least one wheel of the vehicle, and calculating the orientation (Psi) of the vehicle taking the traveled distance (S,dS,DeltaS) into consideration. The invention further relates to a method based on this principle for determining a position (XP, YP ) of a vehicle, to a method for determining an odometry ofa vehicle, and to a corresponding control device of a vehicle.

Description

technical field [0001] The invention relates to a method for determining the attitude / orientation / orientation of a vehicle based on / with respect to a space-fixed coordinate system. The invention also relates to a method for determining the position of a vehicle, a method for determining an odometer / distance measurement / range measurement of a vehicle and a corresponding control device for the vehicle based on the method described above. Background technique [0002] For automated driving, automatic parking and exiting parking spaces or driver assistance systems, it is important to be able to determine the current position and course of the ego vehicle as precisely as possible. The change curve of the vehicle's position and vehicle attitude with respect to time is usually called the mileage. Quick and accurate determination of mileage is of great significance for AD. Determining mileage is usually accomplished in two different ways. One approach is to continuously measure v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/12G01C21/16G01C21/28G01C22/00G01C22/02G01B21/12
CPCG01C22/02B62D15/024G01C22/025G05D1/0212G06F17/13
Inventor Z·陈G·罗尔
Owner CONTINENTAL TEVES AG & CO OHG
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