Dead reckoning method and apparatus for vehicle, device and storage medium

Patent metadata

Field	Value
Publication number	US-11435186-B2
Application number	US-202117350744-A
Country	US
Kind code	B2
Filing date	Jun 17, 2021
Priority date	Jul 20, 2020
Publication date	Sep 6, 2022
Grant date	Sep 6, 2022

Abstract

The present application discloses a dead reckoning method for a vehicle, an apparatus, an apparatus and a storage medium, and relates to the fields of vehicle control, intelligent driving and automatic driving. The specific implementation solution is as follows: obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle; and carrying out dead reckoning on the position and attitude of the vehicle at a current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude at a previous moment.

First claim

What is claimed is:

1. A dead reckoning method for a vehicle, comprising:
obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle, wherein the position and attitude increment comprises a position increment and an attitude increment; and
performing dead reckoning on a position and attitude of the vehicle at a current moment, by obtaining a position and attitude observation of the vehicle at the current moment on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at a previous moment, and obtaining a posteriori position and attitude estimation on the basis of the position and attitude observation at the current moment, a position and attitude apriority and a Kalman filtering model.

2. The method according to claim 1 , wherein, the obtaining the position and attitude increment of the vehicle on the basis of the wheel speed information of the vehicle, comprises:
obtaining a position increment of the vehicle on the basis of the wheel speed information.

3. The method according to claim 2 , wherein, the obtaining the position increment of the vehicle on the basis of the wheel speed information, comprises:
calculating a motion arc length of a center of a rear axle on the basis of a left wheel speed, a right wheel speed, a wheel radius and a time length between adjacent moments; and
calculating the position increment of the vehicle on the basis of the motion arc length of the center of the rear axle and a heading angle, and/or
wherein, the performing the dead reckoning on the position and attitude of the vehicle at the current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at the previous moment, comprises:
obtaining a position observation of the vehicle at the current moment, on the basis of the position increment of the vehicle and a position of the vehicle at the previous moment.

4. The method according to claim 2 , wherein, the performing the dead reckoning on the position and attitude of the vehicle at the current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at the previous moment, comprises:
obtaining a position observation of the vehicle at the current moment, on the basis of the position increment of the vehicle and a position of the vehicle at the previous moment; and
calculating a position difference value between the position observation of the vehicle at the current moment and a position apriority of the vehicle at the current moment, inputting the position difference value into the Kalman filtering model, and obtaining an optimal position estimation at the current moment.

5. The method according to claim 1 , wherein, the obtaining the position and attitude increment of the vehicle on the basis of the wheel speed information of the vehicle, comprises:
obtaining a heading increment of the vehicle on the basis of the wheel speed information.

6. The method according to claim 5 , wherein, the obtaining the heading increment of the vehicle on the basis of the wheel speed information, comprises:
calculating a heading angular speed of the vehicle on the basis of a difference value between a left wheel speed and a right wheel speed, a wheel track and a wheel radius; and
calculating the heading increment of the vehicle on the basis of the heading angular speed of the vehicle and a time length between adjacent moments, and/or
wherein, the performing the dead reckoning on the position and attitude of the vehicle at the current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at the previous moment, comprises:
obtaining a heading observation of the vehicle at the current moment, on the basis of the heading increment of the vehicle and a heading angle of the vehicle at the previous moment.

7. The method according to claim 5 , wherein, the performing the dead reckoning on the position and attitude of the vehicle at the current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at the previous moment, further comprises:
obtaining a heading observation of the vehicle at the current moment, on the basis of the heading increment of the vehicle and a heading angle of the vehicle at the previous moment, and
calculating a heading difference value between the heading observation of the vehicle at the current moment and a heading apriority of the vehicle at the current moment, inputting the heading difference value into the Kalman filtering model, and obtaining an optimal heading estimation at the current moment.

8. The method according to claim 1 , further comprising:
calculating a speed of the vehicle on the basis of the wheel speed information.

9. The method according to claim 8 , wherein, the calculating the speed of the vehicle on the basis of the wheel speed information, comprises:
calculating a left wheel linear speed and a right wheel linear speed on the basis of a left wheel speed, a right wheel speed and a wheel radius; and
calculating a linear speed of a center of a rear axle on the basis of the left wheel linear speed and the right wheel linear speed, and/or
further comprising:
obtaining a vehicle speed observation of the vehicle on the basis of a scale coefficient of a measured longitudinal speed of the rear axle to a real speed, a linear speed of a center of the rear axle, and a conversion matrix from a vehicle body coordinate system to a navigation coordinate system.

10. A dead reckoning apparatus for a vehicle, comprising:
a processor and a memory for storing one or more computer programs executable by the processor,
wherein when executing at least one of the computer programs, the processor is configured to perform operations comprising:
obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle, wherein the position and attitude increment comprises a position increment and an attitude increment; and
performing dead reckoning on a position and attitude of the vehicle at a current moment, by obtaining a position and attitude observation of the vehicle at the current moment on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at a previous moment, and obtaining a posteriori position and attitude estimation on the basis of the position and attitude observation at the current moment, a position and attitude apriority and a Kalman filtering model.

11. The apparatus according to claim 10 , wherein, when executing at least one of the computer programs, the processor is configured to further perform operations comprising:
obtaining a position increment of the vehicle on the basis of the wheel speed information.

12. The apparatus according to claim 11 , wherein, when executing at least one of the computer programs, the processor is configured to further perform operations comprising:
calculating a motion arc length of a center of a rear axle on the basis of a left wheel speed, a right wheel speed, a wheel radius and a time length between adjacent moments; and calculating the position increment of the vehicle on the basis of the motion arc length of the center of the rear axle and a heading angle, and/or
obtaining a position observation of the vehicle at the current moment, on the basis of the position increment of the vehicle and a position of the vehicle at the previous moment.

13. The apparatus according to claim 11 , where

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Chen Wenlong
• Yang Yang
• Yang Pengbin
• Zhang Jianxu

Classifications

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2520/06

  Direction of travel · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2520/28

  Wheel speed · CPC title