Zero-speed detection method and device for heavy truck

Abstract

The invention provides a zero-speed detection method and device for a heavy truck, and the method comprises the steps: carrying out the zero-offset estimation based on integrated navigation, and obtaining a zero-offset estimation result; performing zero offset compensation on pre-collected vehicle data by using the zero offset estimation result to obtain vehicle compensation data; and selecting vehicle compensation data based on the sliding window with the preset length, and performing zero-speed detection on the vehicle compensation data to obtain a zero-speed detection result. According to the method, the zero offset estimation result output by the integrated navigation system is utilized, the zero offset in the collected vehicle data and the parameters influencing the accuracy of the zero speed detection result are removed, the vehicle compensation data of the along-vehicle system are obtained, and the sliding window with the preset length is adopted for data preprocessing so that the method can be suitable for the heavy truck high-vibration scene; and zero-speed detection is carried out by using the processed data, so that a zero-speed detection result is obtained, zero-speed detection errors caused by attitude calculation delay are avoided, detection errors in the low-speed slow-moving process of the vehicle are reduced, and the accuracy and efficiency of zero-speed detection are improved.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a zero-speed detection method and device for heavy trucks. Background technique [0002] Zero-speed detection, as the name implies, is to detect the period when the system speed is zero, so as to prepare for the zero-speed correction. By using the detected zero-speed period as the external measurement information of the system speed error, various errors of the system are controlled and corrected, thereby improving the positioning accuracy of the system. [0003] The existing zero-speed detection mainly judges the zero-speed state of the vehicle according to a given unified threshold, and substitutes the data read by the inertial measurement unit (IMU, Inertial Measurement Units) into the motion model for calculation. If the calculation result is low If it is below this threshold, it is considered that the current vehicle is in a stationary state. [0004] However, the vehicle...

AI Technical Summary

Problems solved by technology

[0005] The invention provides a zero-speed detection method and device for heavy trucks, which are used to solve the defect of poor precision of zero-speed detection results in the prior art due to the limitation of vehicle observation conditions, and improve the accuracy and efficiency of zero-speed detection

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