A Dead Reckoning Method for Automatic Parking Positioning System

Abstract

A dead reckoning method of an automatic parking positioning system, comprising steps of: calculating a heading positioning value of a vehicle at a first parking moment; calculating a system matrix, a measurement matrix, and an observation quantity of a heading positioning value of the vehicle at a second parking moment by combining the heading positioning value of the vehicle at the first parking moment and movement information of the vehicle; respectively subjecting the system matrix, the measurement matrix and the observation quantity to filtering estimation by a linear Kalman filtering algorithm to obtain the heading positioning value of the vehicle at the second parking moment; and subtracting a calculated zero drift error value of the vehicle at the second parking moment from a vehicle heading angle of the heading positioning value of the vehicle at the second parking moment to obtain the heading positioning value of the vehicle at the second parking moment. By taking the dead reckoning results as the measurement quantity and combining with parameters such as a yaw velocity and the velocity of a rear axle center of the vehicle, carrying out the filtering estimation by adopting the linear Kalman filter algorithm to obtain a dead reckoning value of real-time positioning of the vehicle, and then eliminating a zero drift error, 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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