Dead reckoning method of automatic parking positioning system

Abstract

The invention relates to a dead reckoning method of an automatic parking positioning system. The dead reckoning method comprises the steps that a heading positioning value of a vehicle at a first parking moment is calculated; a system matrix, a measurement matrix and the observation quantity of a heading positioning value of the vehicle at a second parking moment are calculated by combining the heading positioning value of the vehicle at the first parking moment and movement information of the vehicle; the system matrix, the measurement matrix and the observation quantity of the heading positioning value of the vehicle at the second parking moment are subjected to smoothing estimation by a linear kalman filtering algorithm correspondingly to obtain the heading positioning value of the vehicle at the second parking moment; and a calculated zero drift error value of the vehicle at the second parking moment is subtracted from a vehicle heading angle of the heading positioning value of thevehicle at the second parking moment to obtain the heading positioning value of the vehicle at the second parking moment. According to the dead reckoning method of the automatic parking positioning system, the dead reckoning results are taken as the measurement quantity, in combination with a yaw angular velocity and the velocity of a rear axle center and other parameters of the vehicle, the smoothing estimation is carried out on the dead reckoning results by adopting the linear kalman filter algorithm to obtain the dead reckoning value of real-time positioning of the vehicle, then the zero drift error is eliminated, and an accurate and real-time heading positioning value is obtained.

Description

technical field [0001] The invention relates to the technical field of parking, in particular to a dead reckoning method of an automatic parking positioning system. Background technique [0002] With the vigorous development of the automobile industry, the automatic parking system has been applied to the high-end configuration vehicles of major automobile manufacturers. The automatic parking process is divided into four steps. First, the parking space is detected, and the vehicle needs to be positioned and tracked during the detection process. Position, triggered by the dead reckoning system, when the parking space is obtained, the vehicle continues to move forward, and the parking space needs to track the coordinates of the parking space according to the previous position information and the current vehicle position information; the second step is to store the parking space coordinate information in the control In the controller ECU, the controller ECU obtains the vehicle i...

AI Technical Summary

Problems solved by technology

For example: dead reckoning positioning error and non-systematic error, dead reckoning positioning error includes the measurement error of the effective rolling radius of the wheel, the unequal rolling radius of the wheels on both sides, the error between the measured wheelbase and the real value, and the resolution of the code disc The rate is not high; non-systematic errors include uneven road surfaces, wheel slippage, car slippage, tire load changes, etc., which lead to certain errors in vehicle pose positioning, and the accuracy of dead reckoning is not high

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