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
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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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