Dead reckoning positioning method and automatic parking system

A positioning method and dead reckoning technology, applied in navigation computing tools, radio wave measurement systems, navigation, etc., can solve problems such as high environmental requirements, cross image quality, and high cost

Pending Publication Date: 2019-10-08
湖南海迅自动化技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These two methods have their own disadvantages: the GPS positioning method has high environmental requirements, and the GPS signal is unstable indoors or under bridge holes, and it is difficult to achieve a stable positioning effect; In this situation, the image quality will be crossed, and the usefulness of vision will be severely restricted

Method used

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  • Dead reckoning positioning method and automatic parking system
  • Dead reckoning positioning method and automatic parking system
  • Dead reckoning positioning method and automatic parking system

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Experimental program
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Effect test

Embodiment 1

[0081] Embodiment 1 of the present invention provides a dead reckoning positioning method based on an ultrasonic sensor and a wheel speed sensor. This method uses the left and right front wheel code disc pulse counts and steering wheel angle information to measure the wheel displacement. According to the changes in the vehicle within the sampling period, Calculate the vehicle azimuth angle increment and position increment to obtain the pose relative to the initial state, and locate the pose of the vehicle in the parking space coordinate system. The specific steps of the algorithm are:

[0082] 1. Determination of parking space standards

[0083] (1) Space dimension standard for parallel parking spaces

[0084] According to the analysis and calculation of the path planning of the automatic parking system, the minimum space size of the parallel parking space for trajectory planning using double-arc superposition is: a×b (estimated according to the path planning constraints), an...

Embodiment 2

[0140] Embodiment 2 of the present invention provides an automatic parking system, and the parking system adopts the dead reckoning positioning method described in Embodiment 1.

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Abstract

The invention provides a dead reckoning positioning method based on an ultrasonic sensor and a wheel speed sensor, and an automatic parking system, used for solving the problem that an indoor mobile robot and an auxiliary parking system are difficult to measure the driving state of a vehicle by adopting inertial navigation equipment in the low-speed motion state of the vehicle. A parking space anda parking space coordinate system are determined by utilization of the ultrasonic sensor; data of the wheel speed sensor is used; a dead reckoning algorithm is adopted; the initial posture of the vehicle in the parking space coordinate system and the vehicle posture in the parking process are located; and the method can be used for the mobile robot to autonomously search the position of a charging pile in the field of mobile robots.

Description

technical field [0001] The invention relates to the field of indoor mobile robots and auxiliary parking systems, in particular to a dead reckoning positioning method based on ultrasonic sensors and wheel speed sensors and an automatic parking system. Background technique [0002] With the rapid development of industry, automobiles, as a means of transportation or means of transportation, have gradually become an important part of people's work and life. Automobile technology has become a comprehensive technology integrating automatic control theory, artificial intelligence theory, optimization theory, sensor technology, communication technology, signal processing technology, image processing technology, information fusion technology and other theories and technologies. With the improvement of people's living conditions, people's requirements for automobile performance are also constantly increasing. It is required that automobiles not only have high handling stability, good ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/34G01C1/00G01S15/08B60W30/06
CPCG01C21/206G01C21/3446G01C21/005G01C1/00G01S15/08B60W30/06
Inventor 罗世彬韩松来胡茂青
Owner 湖南海迅自动化技术有限公司
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