Vehicle navigation method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle navigation method and device, electronic equipment and storage medium, the method comprises the following steps: determining the left and right wheel base of the non-steering wheel of the vehicle according to the roll angle and lateral acceleration of the vehicle; determining the heading angle of the vehicle according to the left and right wheel base of the non-steering wheel, the outer wheel speed of the non-steering wheel, the inner wheel speed of the non-steering wheel and the vehicle kinematics model; considering the influence of the roll angle and lateral acceleration of the vehicle on the wheel base of the vehicle, so that the determined vehicle wheel base is more accurate; through the established kinematics model, the heading angle of the vehicle obtained according to the determined wheel base can realize accurate estimation of the state of the vehicle; the attitude information of the vehicle output by the inertial navigation system is compensated to obtain compensated attitude information; the heading angle of the vehicle is determined according to the compensated attitude information and the heading angle of the vehicle; the finally obtained attitude information of the vehicle is more accurate, and the accuracy and reliability of the vehicle navigation system are improved.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and more specifically, to a vehicle navigation method, device, electronic device, and storage medium. Background Technology

[0002] With the rapid development of Micro Electro-Mechanical Systems (MEMS) gyroscopes, strapdown inertial navigation systems (SINS) can meet the demands for low cost and miniaturization in vehicle navigation systems. However, SINS errors accumulate over time, making it impossible to maintain navigation accuracy for extended periods. Therefore, SINS typically needs to be combined with other sensor information for vehicle navigation. Traditionally, SINS can be combined with satellite navigation or with an odometer, but both methods have their own drawbacks.

[0003] Currently, because the Vehicle Kinematic Model (VKM) can estimate the state of the vehicle without relying on external conditions, it has strong autonomy and adaptability, and can be used to recombine with traditional methods for vehicle navigation.

[0004] However, current vehicle kinematics models assume that the front and rear wheels move in the same direction as the tires' rotation, meaning they assume the tire slip angle is zero. At higher vehicle speeds, this assumption leads to larger state estimation errors, thus affecting the accuracy and reliability of vehicle navigation. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a vehicle navigation method, device, electronic device, and storage medium to improve navigation accuracy.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, embodiments of this application provide a vehicle navigation method, the method comprising:

[0008] Determine the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration;

[0009] The heading angle of the vehicle is determined based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model.

[0010] Obtain the attitude information of the vehicle output by the inertial navigation system;

[0011] The attitude information is compensated to obtain compensated attitude information;

[0012] Based on the compensated attitude information and the vehicle's heading angle, the target heading angle of the vehicle is determined;

[0013] Navigation processing is performed on the vehicle based on its target heading angle.

[0014] Optionally, determining the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration includes:

[0015] Determine the first product of the roll angle and the first coefficient;

[0016] Determine the second product of the lateral acceleration and the second coefficient;

[0017] The left and right wheel distances of the vehicle's non-steering wheels are determined based on the initial left and right wheel distances obtained from the current measurements, and the sum of the first product and the second product.

[0018] Optionally, the step of compensating the attitude information to obtain compensated attitude information includes:

[0019] Based on the vehicle's pitch angle and lateral acceleration, determine the wheel speed coefficients of the constraint equations;

[0020] The constraint information is determined based on the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel steering angle of the vehicle.

[0021] The attitude information is compensated based on the constraint information to obtain the compensated attitude information.

[0022] Optionally, determining the constraint information based on the constraint equation, the vehicle's wheel speed, the wheel speed coefficient, and the vehicle's rear wheel steering angle includes:

[0023] The values ​​of the first constraint parameter and the second constraint parameter are determined based on the wheel speed of the vehicle and the rear wheel steering angle of the vehicle.

[0024] The first constraint parameter value, the second constraint parameter value, and the wheel speed coefficient are input into the constraint equation to obtain the constraint information.

[0025] Optionally, based on the compensated attitude information and the vehicle's heading angle, the target heading angle of the vehicle is determined, including:

[0026] Obtain the track angle output by the satellite navigation system;

[0027] The heading angle of the vehicle is corrected based on the track angle to obtain the corrected heading angle;

[0028] The target heading angle of the vehicle is determined based on the corrected heading angle and the compensated attitude information.

[0029] Optionally, correcting the vehicle's heading angle based on the track angle to obtain the corrected heading angle includes:

[0030] Determine the third product of the track angle and the third coefficient;

[0031] Determine the fourth product of the heading angle and the fourth coefficient;

[0032] The sum of the third product and the fourth product is used as the corrected heading angle.

[0033] Optionally, determining the target heading angle of the vehicle based on the corrected heading angle and the compensated attitude information includes:

[0034] Obtain the compensated heading angle from the compensated attitude information;

[0035] Determine the fifth product of the compensated heading angle and the fifth coefficient;

[0036] Determine the sixth product of the corrected heading angle and the sixth coefficient;

[0037] The sum of the fifth product and the sixth product is taken as the target heading angle of the vehicle.

[0038] Secondly, embodiments of this application also provide a vehicle navigation device, the device comprising:

[0039] The determination module is used to determine the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration.

[0040] The determining module is used to determine the heading angle of the vehicle based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model.

[0041] The acquisition module is used to acquire the attitude information of the vehicle output by the inertial navigation system;

[0042] The compensation module is used to perform compensation processing on the attitude information to obtain compensated attitude information;

[0043] The determination module is used to determine the target heading angle of the vehicle based on the compensated attitude information and the heading angle of the vehicle.

[0044] The navigation module is used to perform navigation processing on the vehicle based on the target heading angle of the vehicle.

[0045] Optionally, the determining module is specifically used for:

[0046] Determine the first product of the roll angle and the first coefficient;

[0047] Determine the second product of the lateral acceleration and the second coefficient;

[0048] The left and right wheel distances of the vehicle's non-steering wheels are determined based on the initial left and right wheel distances obtained from the current measurements, and the sum of the first product and the second product.

[0049] Optionally, the compensation module is specifically used for:

[0050] Based on the vehicle's pitch angle and lateral acceleration, determine the wheel speed coefficients of the constraint equations;

[0051] The constraint information is determined based on the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel steering angle of the vehicle.

[0052] The attitude information is compensated based on the constraint information to obtain the compensated attitude information.

[0053] Optionally, the determining module is specifically used for:

[0054] The values ​​of the first constraint parameter and the second constraint parameter are determined based on the wheel speed of the vehicle and the rear wheel steering angle of the vehicle.

[0055] The first constraint parameter value, the second constraint parameter value, and the wheel speed coefficient are input into the constraint equation to obtain the constraint information.

[0056] Optionally, the determining module is specifically used for:

[0057] Obtain the track angle output by the satellite navigation system;

[0058] The heading angle of the vehicle is corrected based on the track angle to obtain the corrected heading angle;

[0059] The heading angle of the vehicle is determined based on the corrected heading angle and the compensated attitude information.

[0060] Optionally, the determining module is specifically used for:

[0061] Determine the third product of the track angle and the third coefficient;

[0062] Determine the fourth product of the heading angle and the fourth coefficient;

[0063] The sum of the third product and the fourth product is used as the corrected heading angle.

[0064] Optionally, the determining module is specifically used for:

[0065] Obtain the compensated heading angle from the compensated attitude information;

[0066] Determine the fifth product of the compensated heading angle and the fifth coefficient;

[0067] Determine the sixth product of the corrected heading angle and the sixth coefficient;

[0068] The sum of the fifth product and the sixth product is taken as the target heading angle of the vehicle.

[0069] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application runs, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the vehicle navigation method described in the first aspect above.

[0070] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is read and executes the steps of the vehicle navigation method described in the first aspect.

[0071] The beneficial effects of this application are:

[0072] This application provides a vehicle navigation method, device, electronic device, and storage medium. It determines the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration. The vehicle's heading angle is determined based on the left and right track widths, the outer wheel speeds and inner wheel speeds of the non-steering wheels, and the vehicle's kinematic model. Considering the influence of the vehicle's roll angle and lateral acceleration on the track width during high acceleration conditions, the determined track widths are more accurate. Furthermore, the heading angle obtained from the determined track width using the established kinematic model allows for accurate estimation of the vehicle's state without relying on external conditions. The vehicle's attitude information output from the inertial navigation system is compensated to obtain compensated attitude information. The target heading angle of the vehicle is determined based on the compensated attitude information and the vehicle's heading angle. This results in more accurate vehicle attitude information and improves the accuracy and reliability of the vehicle navigation system. Attached Figure Description

[0073] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 A schematic flowchart illustrating a vehicle navigation method provided in an embodiment of this application;

[0075] Figure 2 This is a schematic flowchart of a method for determining wheel track provided in an embodiment of this application;

[0076] Figure 3 This is a schematic flowchart of a posture information compensation method provided in an embodiment of this application;

[0077] Figure 4 This is a schematic flowchart of a method for determining a heading angle provided in an embodiment of this application;

[0078] Figure 5 A schematic diagram of an apparatus for a vehicle navigation method provided in an embodiment of this application;

[0079] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0081] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0082] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0083] Currently, vehicle state estimation based on vehicle dynamics models mainly falls into two categories. One category uses wheel speed as a known quantity and estimates states such as sideslip angle based on set relations using the vehicle dynamics model. This type of method requires high accuracy in vehicle speed. The second category uses tire forces as a known quantity (based on force analysis) and estimates states such as vehicle speed, heading angular velocity, and center of gravity sideslip angle based on Kalman filters and recursive least squares methods. However, simplifying nonlinear modules to linear ones in the second category can cause certain errors, and the model is more complex and computationally intensive.

[0084] In vehicle kinematics models, the motion direction of both the front and rear wheels is assumed to be along the tire rotation direction, meaning the tire slip angle is 0. This assumption is reasonable at low speeds, such as when the vehicle speed is less than 5 m / s. However, at higher speeds, this can lead to larger errors in the state estimation of the vehicle kinematics model, thus affecting the accuracy and reliability of vehicle navigation.

[0085] The vehicle navigation method provided in this application can be applied to an in-vehicle integrated navigation system. This system combines SINS and satellite navigation, with the addition of a vehicle dynamics model for assistance. The in-vehicle integrated navigation system can obtain accurate navigation data using the method provided in this application for vehicle navigation. Furthermore, the system can wirelessly connect to other terminals or devices. These terminals or devices can receive data from the system via wireless communication and perform high-precision navigation and positioning. The wireless communication can include one or more of Bluetooth, Wi-Fi, 3G, 4G, and GPRS; other terminals or devices can include the vehicle owner's mobile phone, computer, tablet computer, or the vehicle's navigation system.

[0086] It is worth noting that the vehicles in this application refer to vehicles that can move freely on the ground by manipulating the wheels, such as road vehicles, such as cars, SUVs, trucks, vans, etc. (different from rail vehicles).

[0087] Figure 1 This is a flowchart illustrating a vehicle navigation method provided in an embodiment of this application. The execution entity of this method is as described above: an in-vehicle integrated navigation system. Figure 1 As shown, the method includes:

[0088] S101. Determine the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration.

[0089] The vehicle's roll angle refers to the angle between the XOZ plane and the vertical plane of the horizontal plane in a cylindrical coordinate system. The non-steering wheels of the vehicle can refer to the rear wheels, specifically the left and right rear wheels.

[0090] In existing technology, the slip angle of the tires of non-steering wheels is assumed to be 0, meaning that the steering angles of the inner and outer wheels are not distinguished. Therefore, the track width for non-steering wheels refers to the distance between the two center planes of the left and right wheels. However, in actual driving conditions such as sharp turns, the lateral acceleration causes weight transfer, leading to abnormal turning radii of the inner and outer wheels. This not only causes errors in pulse and vehicle speed but also errors in the track width and roll. Furthermore, the road roll angle also contributes to errors in track width estimation. Therefore, the track width for non-steering wheels should be determined based on the vehicle's roll angle and lateral acceleration, rather than the traditional distance between the two center planes of the left and right wheels. The vehicle's roll angle can be used to represent the road roll angle.

[0091] S102. Determine the heading angle of the vehicle based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model.

[0092] Optionally, the heading angle of the vehicle can be determined based on the left and right track widths of the non-steering wheels, the outer wheel speeds of the non-steering wheels, the inner wheel speeds of the non-steering wheels, and the vehicle kinematic model as determined in S101 above. The vehicle kinematic model can be represented, for example, by the following formula (i).

[0093] dΨr / dt=(v0-v i ) / L r Formula (1)

[0094] Where ψ is the vehicle's heading angle, v0 is the speed of the outer wheel (not the steering wheel), and v i L is the speed of the inner wheel of the non-steering wheel. rThis refers to the track width between the left and right wheels of the non-steering wheels.

[0095] Optionally, when the vehicle makes a sharp right turn, the outer wheel speed of the non-steering wheel can refer to the left wheel speed of the non-steering wheel, and the inner wheel speed of the non-steering wheel can refer to the right wheel speed of the non-steering wheel; when the vehicle makes a sharp left turn, the outer wheel speed of the non-steering wheel can refer to the right wheel speed of the non-steering wheel, and the inner wheel speed of the non-steering wheel can refer to the left wheel speed of the non-steering wheel. The wheel speeds of the non-steering wheels can be obtained from the vehicle's wheel speed gauge.

[0096] S103. Obtain the vehicle's attitude information output by the inertial navigation system.

[0097] An inertial navigation system is a navigation system that uses accelerometers and gyroscopes to measure the acceleration and angular velocity of a vehicle, and uses a computer to estimate the position, attitude, and velocity of the moving vehicle.

[0098] Optionally, an inertial measurement unit (IMU) can be used to measure the vehicle's attitude information. Specifically, the accelerometer in the IMU can be used to obtain the vehicle's attitude information, such as roll angle, pitch angle, and yaw angle, by taking advantage of the accelerometer's sensitivity to the Earth's gravitational angular velocity. The obtained vehicle attitude information can then be initialized to obtain initialized vehicle attitude information. Alternatively, the vehicle's speed and position information can be obtained through a satellite navigation system, and the obtained vehicle speed and position information can be initialized to obtain initialized speed and position information.

[0099] Optionally, the obtained initialized vehicle attitude information, initialized velocity, and initialized position information can be updated using a preset algorithm of the inertial navigation system. Specifically, when updating the initialized vehicle attitude information, for example, the equivalent rotation vector method of a single sample can be used; when updating the initialized velocity, for example, the trapezoidal method can be used; and when updating the initialized position information, for example, a linear extrapolation algorithm can be used.

[0100] Optionally, after updating the initialized vehicle attitude information through the inertial navigation system, the vehicle attitude information can be output. After updating the initialized speed and position, the vehicle speed and position information can be output.

[0101] S104. Perform compensation processing on the attitude information to obtain the compensated attitude information.

[0102] The attitude information refers to the vehicle attitude information output by the inertial navigation system in S102 above.

[0103] Optionally, since the vehicle attitude information output by the inertial navigation system has error propagation, the accuracy of the vehicle attitude information is not high as time accumulates. Therefore, a preset algorithm can be used to compensate for the attitude information to obtain compensated attitude information. At the same time, a preset algorithm can also be used to compensate for the vehicle speed and position information output by the inertial navigation system to obtain compensated speed and compensated position.

[0104] S105. Based on the compensated attitude information and the vehicle's heading angle, determine the vehicle's target heading angle.

[0105] The heading angle of the vehicle refers to the heading angle determined by the vehicle kinematic model in S102 above. Based on the compensated attitude information and the heading angle obtained by the vehicle motion model, the heading angle of the vehicle is determined by a preset algorithm. Thus, the heading angle of the vehicle is the final attitude angle of the vehicle.

[0106] S106. Perform navigation processing on the vehicle based on the target heading angle.

[0107] The heading angle of the vehicle refers to the heading angle of the vehicle determined in S105 above. The vehicle can be used for navigation processing based on this heading angle. Specifically, the heading angle of the vehicle can be sent to the vehicle's navigation system, and the vehicle's navigation system can provide accurate navigation information based on the heading angle.

[0108] Optionally, the heading angle of the vehicle determined in S105 above can also be compensated and corrected. That is, the heading angle of the vehicle finally determined this time can continue to be used as the attitude information in S104 above, and the attitude information of the vehicle determined this time can continue to be compensated and corrected, repeating the steps S104-S105 above.

[0109] In this embodiment, the left and right track widths of the vehicle's non-steering wheels are determined based on the vehicle's roll angle and lateral acceleration. The vehicle's heading angle is then determined based on the left and right track widths, the outer wheel speeds and inner wheel speeds of the non-steering wheels, and the vehicle's kinematic model. Considering the influence of the vehicle's roll angle and lateral acceleration on the track width during high acceleration conditions, the determined track width is more accurate. Furthermore, the heading angle obtained from the determined track width using the established kinematic model allows for accurate estimation of the vehicle's state without relying on external conditions. Compensation processing is applied to the vehicle's attitude information output by the inertial navigation system to obtain compensated attitude information. The vehicle's heading angle is then determined based on the compensated attitude information and the heading angle. This process results in more accurate vehicle attitude information, improving the accuracy and reliability of the vehicle navigation system.

[0110] Figure 2 This is a schematic flowchart of a method for determining wheel track provided in an embodiment of this application, as shown below. Figure 2 As shown, determining the left and right track widths of the vehicle's non-steering wheels in step S101 based on the vehicle's roll angle and lateral acceleration may include:

[0111] S201. Determine the first product of the roll angle and the first coefficient.

[0112] Here, the roll angle refers to the vehicle's roll angle, which can be obtained using a sensor. The roll angle can be represented by roll, and the first coefficient can be represented by k1. Therefore, the first product of the roll angle and the first coefficient can be k1*roll.

[0113] S202, Determine the second product of the lateral acceleration and the second coefficient.

[0114] Lateral acceleration refers to the lateral acceleration of the vehicle, which can be obtained using an accelerometer. For example, it can be represented by 'a'. The second coefficient can be represented by 'k2'. The second product of the lateral acceleration and the second coefficient is 'k2*a'.

[0115] S203. Based on the initial left and right wheel track obtained from the current measurement, and the sum of the first product and the second product, determine the left and right wheel track of the vehicle's non-steering wheels.

[0116] The initial left and right wheel track currently measured can refer to the distance between the two center planes of the left and right wheels of the non-steering wheels, for example, it can be represented by L1. Then, the determined left and right wheel track of the non-steering wheels of the vehicle can be represented by the following formula (II).

[0117] L r =L1*cos(k1*roll+k2*a) Formula (II)

[0118] Among them, L r L1 is the initial left and right wheel track of the non-steering wheels, k1 is the first coefficient, k2 is the second coefficient, roll is the roll angle of the vehicle, and a is the lateral acceleration of the vehicle.

[0119] Optionally, by adding the left and right wheel distances of the non-steering wheels calculated by formula (II) to formula (I), the heading angle of the vehicle determined by the vehicle kinematics model can be obtained, which is the heading angle of the vehicle determined in S102 above.

[0120] In this embodiment, the determined left and right wheel track of the non-steering wheels takes into account the influence of the vehicle's roll angle and lateral acceleration on the vehicle's wheel track under high-speed conditions, making the wheel track of the vehicle determined by this method more accurate.

[0121] Figure 3 This is a schematic flowchart of a posture information compensation method provided in an embodiment of this application, as shown below. Figure 3 As shown, the attitude information is compensated in step S104 above to obtain compensated attitude information, which may include:

[0122] S301. Determine the wheel speed coefficients of the constraint equations based on the vehicle's pitch angle and lateral acceleration.

[0123] Optionally, since the non-steering wheels of a vehicle are affected by lateral acceleration and pitch angle, when determining the wheel speed coefficient of the non-steering wheels, the lateral acceleration and pitch angle of the vehicle should be taken into account. Specifically, the following formula (iii) can be used to express this.

[0124] k = k a Formula (III) is given by the formula *(1+k3*pitch+k4*a).

[0125] Where k is the wheel speed coefficient of the constraint equation, k a K is the initial wheel speed coefficient, k3 and k4 are constant coefficients, pitch is the vehicle's pitch angle, and a is the vehicle's lateral acceleration.

[0126] S302. Determine the constraint information based on the constraint equations, the vehicle's wheel speed, wheel speed coefficient, and the vehicle's rear wheel steering angle.

[0127] Optionally, the vehicle on the ground has two motion constraints. In the prior art, it is generally assumed that the vehicle's speed is 0 along the direction of the wheel axis and perpendicular to the road surface. For the most widely used sedan, it is generally assumed that the vehicle's center of mass is located at the center of the rear wheel axle. Therefore, the prior art uses Coriolis theorem to constrain the vehicle's dynamics based on the left and right wheel speedometers. The constraint equation in the prior art is as follows: Formula (IV):

[0128]

[0129] In the prior art, it is assumed that only the forward velocity is considered to be 0, while the lateral and vertical velocities are 0. However, for vehicles with steerable rear wheels, the above constraint equation does not hold. Therefore, the constraint equation in this embodiment is expressed by the following formula (V).

[0130]

[0131] Where θ is the rear wheel angle of the vehicle, v is the wheel speed of the vehicle, k is the wheel speed coefficient in step S301 above, n is the ideal navigation system, and c is the actual navigation system.

[0132] S303. Based on the constraint information, the attitude information is compensated to obtain the compensated attitude information.

[0133] Optionally, based on the constraint information determined in S302 above, a preset algorithm is used to compensate the vehicle's attitude information output by the inertial navigation system to obtain compensated attitude information.

[0134] In this embodiment, by taking into account the influence of rear-wheel steerable vehicles when determining the vehicle's constraint information, the constraint information determined based on the constraint equation, the vehicle's wheel speed, wheel speed coefficient, and rear wheel steering angle can be applied to all vehicles, and makes the determined constraint information more accurate.

[0135] Optionally, determining the constraint information in step S302 above based on the constraint equations, the vehicle's wheel speed, wheel speed coefficient, and the vehicle's rear wheel steering angle may include:

[0136] Optionally, the first constraint parameter value and the second constraint parameter value are determined based on the vehicle's wheel speed and the vehicle's rear wheel steering angle. The vehicle's wheel speed can be obtained using a wheel speed meter, and the vehicle's rear wheel steering angle can be obtained using a sensor. Specifically, the first constraint parameter value can be v*cos(θ), and the second constraint parameter value can be v*sin(θ), where θ is the vehicle's rear wheel steering angle and v is the vehicle's wheel speed.

[0137] Optionally, the first constraint parameter value, the second constraint parameter value, and the wheel speed coefficient can be input into the constraint equation of the above formula (V) to obtain the constraint information.

[0138] The constraint information in this embodiment is determined based on the rear wheel angle, wheel speed, pitch angle, and lateral acceleration of the vehicle, making the constraint information in this embodiment more accurate.

[0139] Optionally, the attitude information output by the inertial navigation system can be compensated based on the constraint information obtained by formula (v) above. The misalignment angle can be obtained according to formula (v) above. The misalignment angle can be added to the attitude information output by the inertial navigation system to obtain the attitude information after the misalignment angle is compensated, such as the heading angle after the misalignment angle is compensated.

[0140] Figure 4 This application provides a flowchart illustrating a method for determining a heading angle, as shown in the embodiments below. Figure 4 As shown, in step S105 above, determining the target heading angle of the vehicle based on the compensated attitude information and the vehicle's heading angle may include:

[0141] S401. Obtain the track angle output by the satellite navigation system.

[0142] Among them, satellite navigation systems can utilize satellite navigation on vehicles to receive navigation information transmitted by space satellites and determine the vehicle's location. Examples of such satellite navigation systems include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Galileo Satellite Navigation System, the BeiDou Satellite Navigation System, and the Quasi-Zenith Satellite System (QZSS).

[0143] S402. Correct the vehicle's heading angle based on the track angle to obtain the corrected heading angle.

[0144] Here, the track angle refers to the track angle output by the satellite navigation system in S401 above, and the vehicle's heading angle refers to the vehicle's heading angle determined in S102 above, that is, the vehicle's heading angle determined by the kinematic model. Specifically, the track angle can be corrected by a preset algorithm to correct the vehicle's heading angle determined by the kinematic model.

[0145] S403. Determine the target heading angle of the vehicle based on the corrected heading angle and the compensated attitude information.

[0146] The corrected heading angle refers to the corrected heading angle obtained in S402 above. The corrected heading angle and the compensated attitude information can be determined by a preset algorithm to determine the target heading angle of the vehicle.

[0147] In this embodiment, by correcting the heading angle obtained from the kinematic model and determining the target heading angle of the vehicle based on the corrected heading angle and the compensated attitude information, the determined attitude information of the vehicle can be made more accurate.

[0148] Optionally, the step S402 above, which corrects the vehicle's heading angle based on the track angle to obtain the corrected heading angle, may include:

[0149] Optionally, the third product of the track angle and the third coefficient is determined, where the track angle refers to the track angle output by the satellite navigation system, for example, it can be represented by Φ, and the third coefficient can be represented by k5, then the third product can be k5*Φ.

[0150] Optionally, determine the fourth product of the heading angle and the fourth coefficient, where the fourth coefficient can be represented by k6. The heading angle refers to the heading angle obtained from the kinematic model, that is, the heading angle calculated according to the above formula (II) and formula (I), which can be represented by ψ. Then, the fourth product can be k6*ψ.

[0151] Optionally, the sum of the third and fourth products can be used as the corrected heading angle. If the corrected heading angle can be represented by ψ1, then it can be represented by formula (VI), ψ1=k5*φ+k6*Ψ formula (VI), where k5 and k6 are time-related periodic functions, k5 can increase with time, and k6 can decrease with time.

[0152] In this embodiment, the heading angle calculated by the kinematic model is corrected by using the track angle of the satellite navigation system, which makes the obtained heading angle more accurate.

[0153] Optionally, determining the target heading angle of the vehicle based on the corrected heading angle and the compensated attitude information in step S403 above may include:

[0154] Optionally, the compensated heading angle can be obtained from the compensated attitude information.

[0155] Here, the compensated heading angle refers to the heading angle after compensating the heading angle in the attitude information output by the inertial navigation system based on the misalignment angle obtained by formula (v) above. The compensated heading angle can be represented by ω, for example.

[0156] Optionally, determine the fifth product of the compensated heading angle and the fifth coefficient, where the fifth coefficient can be represented by k7, and the fifth product is k7*ω.

[0157] Optionally, determine the sixth product of the corrected heading angle and the sixth coefficient, where the sixth coefficient can be represented by k8, and the corrected heading angle is ψ1 as mentioned above. The corrected heading angle refers to the heading angle obtained according to the above formula (six), specifically, it is the heading angle after correcting the heading angle calculated by the kinematic model based on the track angle of the satellite navigation system. Then, the sixth product is k8*ψ1.

[0158] Optionally, the sum of the fifth and sixth products can be used as the target heading angle of the vehicle. Then, the target heading angle of the vehicle can be expressed by the following formula (VII).

[0159] Target heading angle = k7*ω + k8*Ψ1 (Formula VII)

[0160] Among them, the fifth coefficient k7 and the sixth coefficient k8 are constants, ω is the compensated heading angle, and Ψ1 is the target heading angle of the vehicle.

[0161] In this embodiment, a condition for judging the heading angle deviation between inertial navigation and group navigation is added. When the deviation is large, a weighted method is used to use the heading angle for feedback correction of inertial navigation, which helps to enhance the robustness of the system.

[0162] Figure 5 This is a schematic diagram of an apparatus for a vehicle navigation method provided in an embodiment of this application, as shown below. Figure 5 As shown, the device includes:

[0163] The determination module 501 is used to determine the left and right track widths of the non-steering wheels of the vehicle based on the vehicle's roll angle and lateral acceleration.

[0164] The determining module 501 is used to determine the heading angle of the vehicle based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model.

[0165] The acquisition module 502 is used to acquire the attitude information of the vehicle output by the inertial navigation system;

[0166] The compensation module 503 is used to perform compensation processing on the attitude information to obtain compensated attitude information;

[0167] The determining module 501 is used to determine the target heading angle of the vehicle based on the compensated attitude information and the heading angle of the vehicle.

[0168] The navigation module 504 is used to perform navigation processing on the vehicle based on the target heading angle of the vehicle.

[0169] Optionally, module 501 is specifically used for:

[0170] Determine the first product of the roll angle and the first coefficient;

[0171] Determine the second product of the lateral acceleration and the second coefficient;

[0172] The left and right wheel distances of the vehicle's non-steering wheels are determined based on the initial left and right wheel distances obtained from the current measurements, and the sum of the first product and the second product.

[0173] Optionally, the compensation module 503 is specifically used for:

[0174] Based on the vehicle's pitch angle and lateral acceleration, determine the wheel speed coefficients of the constraint equations;

[0175] The constraint information is determined based on the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel steering angle of the vehicle.

[0176] The attitude information is compensated based on the constraint information to obtain the compensated attitude information.

[0177] Optionally, module 501 is specifically used for:

[0178] The values ​​of the first constraint parameter and the second constraint parameter are determined based on the wheel speed of the vehicle and the rear wheel steering angle of the vehicle.

[0179] The first constraint parameter value, the second constraint parameter value, and the wheel speed coefficient are input into the constraint equation to obtain the constraint information.

[0180] Optionally, module 501 is specifically used for:

[0181] Obtain the track angle output by the satellite navigation system;

[0182] The heading angle of the vehicle is corrected based on the track angle to obtain the corrected heading angle;

[0183] The target heading angle of the vehicle is determined based on the corrected heading angle and the compensated attitude information.

[0184] Optionally, module 501 is specifically used for:

[0185] Determine the third product of the track angle and the third coefficient;

[0186] Determine the fourth product of the heading angle and the fourth coefficient;

[0187] The sum of the third product and the fourth product is used as the corrected heading angle.

[0188] Optionally, module 501 is specifically used for:

[0189] Obtain the compensated heading angle from the compensated attitude information;

[0190] Determine the fifth product of the compensated heading angle and the fifth coefficient;

[0191] Determine the sixth product of the corrected heading angle and the sixth coefficient;

[0192] The sum of the fifth product and the sixth product is taken as the target heading angle of the vehicle.

[0193] Figure 6 A structural block diagram of an electronic device 600 provided in this application embodiment is shown below. Figure 6 As shown, the electronic device may include: a processor 601 and a memory 602.

[0194] Optionally, a bus 603 may also be included, wherein the memory 602 is used to store machine-readable instructions executable by the processor 601 (e.g., Figure 5 The device contains the execution instructions corresponding to the determination module, acquisition module, compensation module, and navigation module. When the electronic device 600 is running, the processor 601 and the memory 602 communicate via the bus 603. When the machine-readable instructions are executed by the processor 601, the method steps in the above method embodiment are executed.

[0195] This application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the method steps described in the above vehicle navigation method embodiments.

[0196] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0197] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0198] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A vehicle navigation method, characterized in that, include: Determine the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration. The heading angle of the vehicle is determined based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model. Obtain the attitude information of the vehicle output by the inertial navigation system; The attitude information is compensated to obtain compensated attitude information; Based on the compensated attitude information and the vehicle's heading angle, the target heading angle of the vehicle is determined; Navigation processing is performed on the vehicle based on its target heading angle; The compensation process for the attitude information to obtain compensated attitude information includes: Based on the vehicle's pitch angle and lateral acceleration, determine the wheel speed coefficients of the constraint equations; The constraint information is determined based on the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel steering angle of the vehicle. The attitude information is compensated based on the constraint information to obtain the compensated attitude information.

2. The vehicle navigation method according to claim 1, characterized in that, The determination of the left and right track widths of the non-steering wheels of the vehicle based on the vehicle's roll angle and lateral acceleration includes: Determine the first product of the roll angle and the first coefficient; Determine the second product of the lateral acceleration and the second coefficient; The left and right wheel distances of the vehicle's non-steering wheels are determined based on the initial left and right wheel distances obtained from the current measurements, and the sum of the first product and the second product.

3. The vehicle navigation method according to claim 2, characterized in that, The step of determining constraint information based on the constraint equation, the vehicle's wheel speed, the wheel speed coefficient, and the vehicle's rear wheel steering angle includes: The values ​​of the first constraint parameter and the second constraint parameter are determined based on the wheel speed of the vehicle and the rear wheel steering angle of the vehicle. The first constraint parameter value, the second constraint parameter value, and the wheel speed coefficient are input into the constraint equation to obtain the constraint information.

4. The vehicle navigation method according to claim 1, characterized in that, Based on the compensated attitude information and the vehicle's heading angle, the target heading angle of the vehicle is determined, including: Obtain the track angle output by the satellite navigation system; The heading angle of the vehicle is corrected based on the track angle to obtain the corrected heading angle; The target heading angle of the vehicle is determined based on the corrected heading angle and the compensated attitude information.

5. The vehicle navigation method according to claim 4, characterized in that, The step of correcting the vehicle's heading angle based on the track angle to obtain the corrected heading angle includes: Determine the third product of the track angle and the third coefficient; Determine the fourth product of the heading angle and the fourth coefficient; The sum of the third product and the fourth product is used as the corrected heading angle.

6. The vehicle navigation method according to claim 4, characterized in that, Determining the target heading angle of the vehicle based on the corrected heading angle and the compensated attitude information includes: Obtain the compensated heading angle from the compensated attitude information; Determine the fifth product of the compensated heading angle and the fifth coefficient; Determine the sixth product of the corrected heading angle and the sixth coefficient; The sum of the fifth product and the sixth product is taken as the target heading angle of the vehicle.

7. A vehicle navigation device, characterized in that, include: The determination module is used to determine the left and right track widths of the vehicle's non-steering wheels based on the vehicle's roll angle and lateral acceleration. The determining module is used to determine the heading angle of the vehicle based on the left and right wheel track of the non-steering wheels, the outer wheel speed of the non-steering wheels, the inner wheel speed of the non-steering wheels, and the vehicle kinematic model. The acquisition module is used to acquire the attitude information of the vehicle output by the inertial navigation system; The compensation module is used to perform compensation processing on the attitude information to obtain compensated attitude information; The determination module is used to determine the heading angle of the vehicle based on the compensated attitude information and the heading angle of the vehicle. The navigation module is used to perform navigation processing on the vehicle based on the vehicle's target heading angle; The compensation module is specifically used for: Based on the vehicle's pitch angle and lateral acceleration, determine the wheel speed coefficients of the constraint equations; The constraint information is determined based on the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel steering angle of the vehicle. The attitude information is compensated based on the constraint information to obtain the compensated attitude information.

8. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program executable by the processor, the processor executing the computer program to implement the steps of the vehicle navigation method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the vehicle navigation method as described in any one of claims 1-6.

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