CN116337053A - Vehicle navigation method, device, electronic equipment and storage medium - Google Patents
Vehicle navigation method, device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application provides a vehicle navigation method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle, and determining a course angle of the vehicle according to the left and right wheel tracks 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; the influence of the vehicle roll angle and the lateral acceleration on the vehicle track is considered, so that the determined vehicle track is more accurate, and the accurate estimation of the state of the vehicle can be realized through the course angle of the vehicle obtained by the established kinematic model according to the determined track; the method comprises the steps of performing compensation processing on posture information of a vehicle output by an inertial navigation system to obtain compensated posture information; determining the course angle of the vehicle according to the compensated posture information and the course angle of the vehicle; the final obtained attitude information of the vehicle can be more accurate, and the accuracy and reliability of the vehicle navigation system are improved.
Description
Technical Field
The present disclosure relates to the field of navigation technologies, and in particular, to a vehicle navigation method, device, electronic apparatus, and storage medium.
Background
With the rapid development of micro-electromechanical (Micro Electro Mechanical Systems, abbreviated as MEMS) gyroscopes, a strapdown inertial navigation system (strapdown inertial navigation system, abbreviated as SINS) can meet the requirements of low cost and miniaturization of a vehicle navigation system. However, the error of the SINS may accumulate over time, and the navigation accuracy may not be maintained for a long time, so it is generally necessary to combine the SINS with other sensing information to perform vehicle navigation. In the traditional mode, SINS can be combined with satellite navigation, or SINS is combined with an odometer, but the corresponding disadvantages exist.
At present, the vehicle kinematic model (Vehicle Kinematic Model, abbreviated as VKM) can estimate the state of the carrier, does not need to depend on external conditions, has stronger autonomy and adaptation, and can be used for being recombined with a traditional combination mode to carry out vehicle navigation.
However, in the current vehicle kinematic model, it is assumed that the movement directions of the front wheels and the rear wheels of the vehicle are both along the rotation direction of the tire, that is, the slip angle (slip angle) of the tire is 0. This assumption leads to a large state estimation error when the speed of the vehicle is high, thereby affecting the accuracy and reliability of the vehicle navigation.
Disclosure of Invention
The present application aims to overcome the above-mentioned drawbacks of the prior art, and to provide a vehicle navigation method, device, electronic apparatus and storage medium, which improve navigation accuracy.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application provides a vehicle navigation method, including:
determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle;
determining a course angle of the vehicle according to the left and right wheel tracks 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;
acquiring attitude information of the vehicle output by an inertial navigation system;
performing compensation processing on the posture information to obtain compensated posture information;
determining a target course angle of the vehicle according to the compensated posture information and the course angle of the vehicle;
and carrying out navigation processing on the vehicle according to the target course angle of the vehicle.
Optionally, the determining the left-right track of the non-steering wheel of the vehicle according to the roll angle and the lateral acceleration of the vehicle includes:
determining a first product of the roll angle and a first coefficient;
determining a second product of the lateral acceleration and a second coefficient;
and determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the initial left and right wheel tracks obtained by current measurement and the sum of the first product and the second product.
Optionally, the compensating the posture information to obtain compensated posture information includes:
determining a wheel speed coefficient of a constraint equation according to the pitch angle and the lateral acceleration of the vehicle;
determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient and the rear wheel rotation angle of the vehicle;
and carrying out compensation processing on the posture information based on the constraint information to obtain the compensated posture information.
Optionally, the determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the vehicle rear wheel steering angle includes:
determining a first constraint parameter value and a second constraint parameter value according to the wheel speed of the vehicle and the rear wheel steering angle of the vehicle;
and inputting the first constraint parameter value, the second constraint parameter value and the wheel speed coefficient into the constraint equation to obtain the constraint information.
Optionally, determining the target heading angle of the vehicle according to the compensated pose information and the heading angle of the vehicle includes:
acquiring a track angle output by a satellite navigation system;
correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle;
and determining the target course angle of the vehicle according to the corrected course angle and the compensated gesture information.
Optionally, the correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle includes:
determining a third product of the track angle and a third coefficient;
determining a fourth product of the heading angle and a fourth coefficient;
and taking the sum of the third product and the fourth product as the corrected heading angle.
Optionally, the determining the target heading angle of the vehicle according to the corrected heading angle and the compensated pose information includes:
acquiring a compensated course angle from the compensated posture information;
determining a fifth product of the compensated heading angle and a fifth coefficient;
determining a sixth product of the corrected heading angle and a sixth coefficient;
and taking the sum of the fifth product and the sixth product as a target course angle of the vehicle.
In a second aspect, embodiments of the present application further provide a vehicle navigation device, including:
the determining module is used for determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle;
the determining module is used for determining the course angle of the vehicle according to the left and right wheel tracks 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 kinematics model;
the acquisition module is used for acquiring the attitude information of the vehicle output by the inertial navigation system;
the compensation module is used for carrying out compensation processing on the gesture information to obtain compensated gesture information;
the determining module is used for determining a target course angle of the vehicle according to the compensated gesture information and the course angle of the vehicle;
and the navigation module is used for carrying out navigation processing on the vehicle according to the target course angle of the vehicle.
Optionally, the determining module is specifically configured to:
determining a first product of the roll angle and a first coefficient;
determining a second product of the lateral acceleration and a second coefficient;
and determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the initial left and right wheel tracks obtained by current measurement and the sum of the first product and the second product.
Optionally, the compensation module is specifically configured to:
determining a wheel speed coefficient of a constraint equation according to the pitch angle and the lateral acceleration of the vehicle;
determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient and the rear wheel rotation angle of the vehicle;
and carrying out compensation processing on the posture information based on the constraint information to obtain the compensated posture information.
Optionally, the determining module is specifically configured to:
determining a first constraint parameter value and a second constraint parameter value according to the wheel speed of the vehicle and the rear wheel steering angle of the vehicle;
and inputting the first constraint parameter value, the second constraint parameter value and the wheel speed coefficient into the constraint equation to obtain the constraint information.
Optionally, the determining module is specifically configured to:
acquiring a track angle output by a satellite navigation system;
correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle;
and determining the course angle of the vehicle according to the corrected course angle and the compensated gesture information.
Optionally, the determining module is specifically configured to:
determining a third product of the track angle and a third coefficient;
determining a fourth product of the heading angle and a fourth coefficient;
and taking the sum of the third product and the fourth product as the corrected heading angle.
Optionally, the determining module is specifically configured to:
acquiring a compensated course angle from the compensated posture information;
determining a fifth product of the compensated heading angle and a fifth coefficient;
determining a sixth product of the corrected heading angle and a sixth coefficient;
and taking the sum of the fifth product and the sixth product as a target course angle of the vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including: the vehicle navigation system comprises a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, when an application program runs, the processor and the storage medium are communicated through the bus, and the processor executes the program instructions to execute the steps of the vehicle navigation method according to the first aspect.
In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having a computer program stored thereon, the computer program being read and executed the steps of the vehicle navigation method according to the first aspect.
The beneficial effects of this application are:
according to the vehicle navigation method, the device, the electronic equipment and the storage medium, the left and right wheel distances of non-steering wheels of a vehicle are determined according to the roll angle and the lateral acceleration of the vehicle, and the course angle of the vehicle is determined according to the left and right wheel distances 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 kinematics model; the influence of the vehicle roll angle and the lateral acceleration on the vehicle track is considered when the vehicle is under the working condition of high acceleration, so that the determined vehicle track is more accurate, and meanwhile, the vehicle course angle can be obtained according to the determined track through the established kinematic model, so that the state of the vehicle can be accurately estimated, and the condition of no dependence on external conditions is needed; the method comprises the steps of performing compensation processing on posture information of a vehicle output by an inertial navigation system to obtain compensated posture information; determining a target course angle of the vehicle according to the compensated posture information and the course angle of the vehicle; the final obtained attitude information of the vehicle can be more accurate, and the accuracy and reliability of the vehicle navigation system are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle navigation method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for determining a track provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of a method for compensating gesture information according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for determining a heading angle according to an embodiment of the present disclosure;
fig. 5 is a schematic device diagram of a vehicle navigation method according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features stated hereinafter, but not to exclude the addition of other features.
At present, vehicle state estimation based on a vehicle dynamics model mainly comprises two types, wherein one type is based on a wheel speed as a known quantity, and the other type of vehicle state estimation is based on a set relation, and the vehicle dynamics model is used for estimating states such as a side deflection angle and the like, so that the method has higher accuracy requirements on the vehicle speed; the second type is to estimate states such as vehicle speed, course angular velocity, centroid slip angle and the like based on a Kalman filter, a recursive least square method and the like by taking the stress of a tire as a known quantity (based on stress analysis), but in the second type, certain errors are caused when a nonlinear module is simplified to be linear, and the model is complex and the calculated quantity is large.
In the vehicle kinematic model, the movement directions of the front wheel and the rear wheel are assumed to be along the rotation direction of the tire, that is, the slip angle of the tire is 0, and at low speed, for example, at a vehicle speed of less than 5m/s, the assumption is reasonable, but at high vehicle speed, the state estimation error of the vehicle kinematic model is caused to be large, so that the accuracy and the reliability of the vehicle navigation are affected.
The vehicle navigation method provided by the embodiment of the application can be applied to a vehicle-mounted integrated navigation system on a vehicle, and the vehicle-mounted integrated navigation system is based on SINS and satellite navigation combination, so that the assistance of a vehicle dynamics model is increased. The vehicle-mounted integrated navigation system can obtain accurate navigation data by utilizing the vehicle navigation method provided by the embodiment of the application so as to navigate the vehicle. The vehicle-mounted integrated navigation system can be connected with other terminals or devices through wireless communication, and the other terminals or devices can perform high-precision navigation and positioning through receiving data of the vehicle-mounted integrated navigation system through wireless communication. Wherein the wireless communication may include one or more combinations of bluetooth communication, wifi, 3G, 4G, GPRS; other terminals or devices may include a vehicle owner's mobile phone terminal, a computer terminal, a tablet computer, or a navigator of a vehicle.
It is to be noted that a vehicle in the present application refers to a vehicle that can freely travel on the ground by steering wheels of the vehicle, for example, a vehicle on the road surface, such as a car, an off-road vehicle, a van, a minibus, or the like (unlike a railway vehicle).
Fig. 1 is a schematic flow chart of a vehicle navigation method according to an embodiment of the present application, where an execution subject of the method is a vehicle-mounted integrated navigation system as described above. As shown in fig. 1, the method includes:
s101, determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle.
The roll angle of the vehicle refers to an included angle between the XOZ plane and a vertical plane of a horizontal plane in a cylindrical coordinate system, and the non-steering wheel of the vehicle may refer to a rear wheel of the vehicle, and specifically includes a left rear wheel and a right rear wheel.
In the prior art, assuming that the slip angle of the tire of the non-steered wheel is 0, that is, the steering angle of the inside and the outside is not distinguished, the tread for the non-steered wheel refers to the distance between the two center planes of the left and right wheels of the non-steered wheel. However, in actual situations where the vehicle is under high acceleration, for example, in a sudden steering, the vehicle weight shift due to the lateral acceleration of the vehicle causes an abnormality in the turning radius of the wheels on the inner and outer sides, which causes an error in the pulse and the vehicle speed, and also causes an error in the roll of the wheel base of the two wheels, and the road roll angle causes an error in the estimation of the wheel base, and therefore, the wheel base of the non-steered wheels is determined according to the roll angle of the vehicle and the lateral acceleration, instead of conventionally, the distance between the two center planes of the left and right wheels is taken as the wheel base of the non-steered wheels, wherein the roll angle of the vehicle can be used to represent the road roll angle.
S102, determining the course angle of the vehicle according to the left and right wheel tracks 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.
Optionally, the course angle of the vehicle is determined according to the left and right wheel distances 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 determined in S101. The kinematic model of the vehicle may be represented by the following formula (one), for example.
dΨr/dt＝(v 0 -v i )/L r Formula 1
Wherein psi is the heading angle of the vehicle, v 0 Is the outer wheel speed of the non-steering wheel, v i Is the speed of the inner wheel of the non-steering wheel, L r Is the left-right wheel distance of the non-steering wheel.
Optionally, for a right-hand emergency steering condition of the vehicle, the outer wheel speed of the non-steering wheel may refer to the left wheel speed of the non-steering wheel, and the inner wheel speed of the non-steering wheel may refer to the right wheel speed of the non-steering wheel; for the left sharp steering working condition of the vehicle, 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, wherein the wheel speed of the non-steering wheel can be obtained through a wheel speed meter of the vehicle.
S103, acquiring attitude information of the vehicle output by the inertial navigation system.
Among them, the inertial navigation system is a navigation system that measures acceleration and angular velocity of a vehicle using an accelerometer and a gyroscope, and estimates the position, posture and velocity of a moving vehicle using a computer.
Optionally, an inertial measurement unit (inertial measurement unit, abbreviated as IMU) may be used to measure and obtain the attitude information of the vehicle, specifically, an accelerometer in the IMU may be used to obtain the attitude information of the vehicle such as roll angle, pitch angle and heading angle of the vehicle by using the characteristics of the accelerometer sensitive to the earth gravity angular velocity, and initialize the obtained attitude information of the vehicle to obtain initialized vehicle attitude information; the running speed and the position information of the vehicle can be obtained through the satellite navigation system, and the obtained running speed and the position information of the vehicle are initialized to obtain the initialized speed and the initialized position information.
Optionally, the obtained initialized vehicle posture information, initialized speed and initialized position information may be updated through a preset algorithm of the inertial navigation system. When the initialized vehicle posture information is updated, for example, a single-subsampled equivalent rotation vector method can be adopted to update the initialized vehicle posture information; when updating the initialized speed, for example, a trapezoidal method can be adopted to update the initialized speed; in updating the initialized location information, for example, a linear extrapolation algorithm may be used to update the initialized location information.
Optionally, after the initialized vehicle posture information is updated through the inertial navigation system, the vehicle posture information can be output, and after the initialized speed and the initialized position are updated, the vehicle speed and the vehicle position information can be output.
And S104, carrying out compensation processing on the posture information to obtain compensated posture information.
The posture information refers to the posture information of the vehicle output by the inertial navigation system in S102.
Optionally, because the posture information of the vehicle output by the inertial navigation system has error propagation, and is accumulated along with time, the accuracy of the posture information of the vehicle is not high, and a preset algorithm can be adopted to compensate the posture information, so that compensated posture information is obtained; meanwhile, the vehicle speed and the position information output by the inertial navigation system can be compensated by adopting a preset algorithm, so that the compensated speed and the compensated position are obtained.
S105, determining a target course angle of the vehicle according to the compensated posture information and the course angle of the vehicle.
The course angle of the vehicle refers to the course angle determined according to the vehicle kinematic model in S102, and the course angle of the vehicle is determined by adopting a preset algorithm according to the compensated posture information and the course angle obtained by the vehicle kinematic model, and then the course angle of the vehicle is the final posture angle of the vehicle.
S106, performing navigation processing on the vehicle according to the target course angle of the vehicle.
The course angle of the vehicle refers to the course angle of the vehicle determined in S105, through which the vehicle can be navigated, and specifically, the course angle of the vehicle can be sent to a navigation system of the vehicle, and the navigation system of the vehicle can provide accurate navigation information according to the course angle.
Optionally, the course angle of the vehicle determined in S105 may be further subjected to compensation correction, that is, the course angle of the vehicle finally determined at this time may be further used as the posture information in S104, and the posture information of the vehicle determined at this time is further subjected to compensation correction, so that the steps S104 to S105 are repeated.
In the embodiment, the course angle of the vehicle is determined by determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle and determining the course angle of the vehicle according to the left and right wheel tracks 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; the influence of the vehicle roll angle and the lateral acceleration on the vehicle track is considered when the vehicle is under the working condition of high acceleration, so that the determined vehicle track is more accurate, and meanwhile, the vehicle course angle can be obtained according to the determined track through the established kinematic model, so that the state of the vehicle can be accurately estimated, and the condition of no dependence on external conditions is needed; the method comprises the steps of performing compensation processing on posture information of a vehicle output by an inertial navigation system to obtain compensated posture information; determining the course angle of the vehicle according to the compensated posture information and the course angle of the vehicle; the final obtained attitude information of the vehicle can be more accurate, and the accuracy and reliability of the vehicle navigation system are improved.
Fig. 2 is a schematic flow chart of a method for determining a wheel track according to an embodiment of the present application, as shown in fig. 2, in the step S101, determining a left-right wheel track of a non-steering wheel of a vehicle according to a roll angle and a lateral acceleration of the vehicle may include:
s201, determining a first product of the roll angle and the first coefficient.
The roll angle refers to a roll angle of the vehicle, which can be obtained by using a sensor, the roll angle can be represented by using roll, the first coefficient can be represented by using k1, and then the first product of the roll angle and the first coefficient can be k 1.
S202, determining a second product of the lateral acceleration and the second coefficient.
The lateral acceleration refers to a lateral acceleration of the vehicle, may be obtained by using an accelerometer, for example, may be represented by a, and the second coefficient may be represented by k2, where a second product of the lateral acceleration and the second coefficient is k2×a.
S203, determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the initial left and right wheel tracks obtained through current measurement and the sum of the first product and the second product.
Wherein the initial left-right track of the current measurement may refer toThe distance between the two central planes of the left and right wheels of the non-steered wheel can be L 1 To express, the left and right wheel pitches of the non-steered wheels of the determined vehicle can be expressed using the following formula (two).
L r ＝L 1 * cos (k1+k2+aA) formula (two)
Wherein L is r Left and right wheel distance of non-steering wheel, L 1 For the initial left-right track, k1 is a first coefficient, k2 is a second coefficient, roll is the roll angle of the vehicle, and a is the lateral acceleration of the vehicle.
Alternatively, the left-right wheel distance to the non-steering wheel calculated by the formula (two) is added to the formula (one), so that the heading angle of the vehicle determined by the vehicle kinematic model, that is, the heading angle of the vehicle determined in S102 above, can be obtained.
In the embodiment, the determined left and right wheel tracks of the non-steering wheels take the roll angle and the influence of lateral acceleration of the vehicle on the wheel track of the vehicle under the high-speed working condition into consideration, so that the wheel track of the vehicle determined according to the method is more accurate.
Fig. 3 is a schematic flow chart of a method for compensating gesture information according to an embodiment of the present application, as shown in fig. 3, in the foregoing step S104, the compensating processing is performed on the gesture information to obtain compensated gesture information, which may include:
s301, determining a wheel speed coefficient of a constraint equation according to the pitch angle and the lateral acceleration of the vehicle.
Alternatively, since the non-steered wheels of the vehicle are affected by the lateral acceleration and the pitch angle, the wheel speed coefficient of the non-steered wheels is determined taking into consideration both the lateral acceleration of the vehicle and the pitch angle of the vehicle, specifically, may be expressed using the following equation (three).
k＝k a * (1+k3+k4. A) formula (III)
Wherein k is the wheel speed coefficient of the constraint equation, k a For the initial wheel speed coefficient, k3 and k4 are constant coefficients, pitch is the pitch angle of the vehicle, and a is the lateral acceleration of the vehicle.
S302, determining constraint information according to a constraint equation, the wheel speed of the vehicle, a wheel speed coefficient and a rear wheel rotation angle of the vehicle.
Alternatively, there are two motion constraints on the ground vehicle, in the prior art, it is generally considered that the speed of the vehicle is 0 along the rotation axis direction of the wheels and the vertical direction of the road surface, and for the car with the widest application, the center of mass of the vehicle is generally considered to be located at the center of the rear wheel axle, so the constraint on the dynamics of the vehicle of the left wheel speed meter and the right wheel speed meter is performed by using the coriolis theorem in the prior art, and the constraint equation in the prior art is as follows:
for the constraint equation described above, only the forward speed is considered in the prior art, and the speeds in the lateral and vertical directions are 0, but for the vehicle in which the rear wheels are steerable, the constraint equation described above is not established, and therefore, the constraint equation in the present embodiment is expressed by the following equation (five).
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, n is the ideal navigation system, and c is the actual navigation system.
And S303, carrying out compensation processing on the posture information based on the constraint information to obtain compensated posture information.
Optionally, based on the constraint information determined in S302, the posture information of the vehicle output by the inertial navigation system is compensated by using a preset algorithm, so as to obtain compensated posture information.
In this embodiment, by considering the influence factors of the steerable rear-wheel vehicle when determining the constraint information of the vehicle, the constraint information determined according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear-wheel steering angle of the vehicle can be applied to all vehicles, and the determined constraint information can be made more accurate.
Optionally, determining constraint information in the step S302 according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel rotation angle of the vehicle may include:
optionally, the first constraint parameter value and the second constraint parameter value are determined according to a wheel speed of the vehicle and a rear wheel rotation angle of the vehicle, wherein the wheel speed of the vehicle can be obtained by using a wheel speed meter, the rear wheel rotation angle of the vehicle can be obtained by using a sensor, specifically, the first constraint parameter value can be v×cos (θ), the second constraint parameter value can be v×sin (θ), wherein θ is a rear wheel angle of the vehicle, and v is a wheel speed of the vehicle.
Optionally, the first constraint parameter value, the second constraint parameter value and the wheel speed coefficient are input into a constraint equation of the formula (five) to obtain constraint information.
The constraint information in the embodiment is determined according to the rear wheel angle of the vehicle, the wheel speed of the vehicle, the pitch angle of the vehicle and the lateral acceleration, so that the constraint information in the embodiment is more accurate.
Optionally, the constraint information obtained based on the formula (fifth) is used for compensating the posture information output by the inertial navigation system, the misalignment angle can be obtained according to the formula (fifth), and the misalignment angle is added into the posture information output by the inertial navigation system, so that posture information after the misalignment angle is compensated, for example, a course angle after the misalignment angle is compensated, can be obtained.
Fig. 4 is a flowchart of a method for determining a heading angle according to an embodiment of the present application, as shown in fig. 4, in the step S105, determining a target heading angle of a vehicle according to compensated pose information and a heading angle of the vehicle may include:
s401, acquiring a track angle output by a satellite navigation system.
The satellite navigation system can utilize satellite navigation on the vehicle to receive navigation information transmitted by space satellites and determine the position information of the vehicle. The satellite navigation system may be, for example, a global positioning system (Global Positioning System, GPS), a global navigation satellite system (Global Navigation Satellite System, GLONASS), a galileo satellite navigation system, a beidou satellite navigation system, a Quasi zenith satellite system (Quasi-Zenith Satellite System, QZSS), or the like.
S402, correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle.
The track angle refers to the track angle output by the satellite navigation system in S401, and the heading angle of the vehicle refers to the heading angle of the vehicle determined in S102, that is, the heading angle of the vehicle determined by the kinematic model, and specifically, the track angle may correct the heading angle of the vehicle determined by the kinematic model using a preset algorithm.
S403, determining the target course angle of the vehicle according to the corrected course angle and the compensated posture information.
The corrected heading angle refers to the corrected heading angle obtained in S402, and the corrected heading angle and the compensated pose information may determine the target heading angle of the vehicle by using a preset algorithm.
In this embodiment, by correcting the heading angle obtained by the kinematic model and determining the target heading angle of the vehicle according to the corrected heading angle and the compensated posture information, the determined posture information of the vehicle can be made more accurate.
Optionally, in the step S402, correcting the heading angle of the vehicle according to the track angle to obtain a corrected heading angle may include:
optionally, a third product of the track angle and a third coefficient is determined, where the track angle refers to the track angle output by the satellite navigation system, and may be represented by Φ, and the third coefficient may be represented by k5, and then the third product may be k5×Φ.
Alternatively, a fourth product of the heading angle and a fourth coefficient is determined, where the fourth coefficient may be represented by k6, and the heading angle refers to a heading angle obtained by a kinematic model, that is, a heading angle calculated according to the above formula (two) and formula (one) may be represented by ψ, and then the fourth product may be k6×ψ.
Optionally, the sum of the third product and the fourth product is used as the corrected heading angle, if the corrected heading angle can beUsing psi 1 Expressed, then, can be expressed using equation (six), ψ 1 =k5+k6×ψ equation (six), where k5 and k6 are time dependent periodic functions, k5 may increase over time and k6 may decrease over time.
In this embodiment, the course angle calculated by the kinematic model is corrected by using the track angle of the satellite navigation system, so that the obtained course angle is more accurate.
Optionally, determining the target heading angle of the vehicle according to the corrected heading angle and the compensated pose information in the step S403 may include:
optionally, the compensated heading angle is obtained from the compensated pose information.
The compensated heading angle refers to a heading angle obtained based on the above formula (fifth), and the compensated heading angle in the attitude information output by the inertial navigation system is compensated according to the misalignment angle, and may be represented by ω, for example.
Optionally, a fifth product of the compensated heading angle and a fifth coefficient is determined, where the fifth coefficient may be represented by k7, and the fifth product is k7 ω.
Optionally, a sixth product of the corrected heading angle and a sixth coefficient is determined, where the sixth coefficient may be represented by k8, and the corrected heading angle is ψ as described above 1 The corrected course angle refers to a course angle obtained according to the above formula (six), specifically, a course angle obtained by correcting a course angle calculated by a kinematic model according to a course angle of a satellite navigation system, and the sixth product is k8×ψ 1 。
Alternatively, the sum of the fifth product and the sixth product is taken as the target heading angle of the vehicle, and the target heading angle of the vehicle may be expressed using the following formula (seventh).
Target heading angle=k7+k8×ψ 1 Formula (seven)
Wherein the fifth coefficient k7 and the sixth coefficient k8 are constants, ω is the compensated heading angle, ψ 1 Is the target heading angle of the vehicle.
In this embodiment, the determination conditions of the deviation of the course angle between the inertial navigation and the group and navigation are increased, and when the deviation is large, the course angle is used for feedback correction of the inertial navigation by using a weighted method, so that the robustness of the system is improved.
Fig. 5 is a schematic device diagram of a vehicle navigation method according to an embodiment of the present application, where, as shown in fig. 5, the device includes:
a determining module 501 for determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and lateral acceleration of the vehicle;
a determining module 501, configured to determine a heading angle of the vehicle according to a left-right wheel distance of the non-steering wheel, an outer wheel speed of the non-steering wheel, an inner wheel speed of the non-steering wheel, and a vehicle kinematic model;
an acquiring module 502, configured to acquire attitude information of the vehicle output by an inertial navigation system;
the compensation module 503 is configured to perform compensation processing on the posture information to obtain compensated posture information;
a determining module 501, configured to determine a target heading angle of the vehicle according to the compensated pose information and the heading angle of the vehicle;
and the navigation module 504 is used for performing navigation processing on the vehicle according to the target course angle of the vehicle.
Optionally, the determining module 501 is specifically configured to:
determining a first product of the roll angle and a first coefficient;
determining a second product of the lateral acceleration and a second coefficient;
and determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the initial left and right wheel tracks obtained by current measurement and the sum of the first product and the second product.
Optionally, the compensation module 503 is specifically configured to:
determining a wheel speed coefficient of a constraint equation according to the pitch angle and the lateral acceleration of the vehicle;
determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient and the rear wheel rotation angle of the vehicle;
and carrying out compensation processing on the posture information based on the constraint information to obtain the compensated posture information.
Optionally, the determining module 501 is specifically configured to:
determining a first constraint parameter value and a second constraint parameter value according to the wheel speed of the vehicle and the rear wheel steering angle of the vehicle;
and inputting the first constraint parameter value, the second constraint parameter value and the wheel speed coefficient into the constraint equation to obtain the constraint information.
Optionally, the determining module 501 is specifically configured to:
acquiring a track angle output by a satellite navigation system;
correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle;
and determining the target course angle of the vehicle according to the corrected course angle and the compensated gesture information.
Optionally, the determining module 501 is specifically configured to:
determining a third product of the track angle and a third coefficient;
determining a fourth product of the heading angle and a fourth coefficient;
and taking the sum of the third product and the fourth product as the corrected heading angle.
Optionally, the determining module 501 is specifically configured to:
acquiring a compensated course angle from the compensated posture information;
determining a fifth product of the compensated heading angle and a fifth coefficient;
determining a sixth product of the corrected heading angle and a sixth coefficient;
and taking the sum of the fifth product and the sixth product as a target course angle of the vehicle.
Fig. 6 is a block diagram of an electronic device 600 according to an embodiment of the present application, as shown in fig. 6, the electronic device may include: processor 601, memory 602.
Optionally, a bus 603 may be further included, where the memory 602 is configured to store machine readable instructions executable by the processor 601 (e.g. executing instructions corresponding to the determining module, the obtaining module, the compensating module, the navigation module in the apparatus in fig. 5, etc.), where when the electronic device 600 is running, the processor 601 communicates with the memory 602 by storing the machine readable instructions through the bus 603, where the machine readable instructions are executed by the processor 601 to perform the method steps in the foregoing method embodiments.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which when being executed by a processor performs the method steps in the above-described vehicle navigation method embodiments.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, which are not described in detail in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application.
Claims (10)
1. A vehicle navigation method, characterized by comprising:
determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle;
determining a course angle of the vehicle according to the left and right wheel tracks 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;
acquiring attitude information of the vehicle output by an inertial navigation system;
performing compensation processing on the posture information to obtain compensated posture information;
determining a target course angle of the vehicle according to the compensated posture information and the course angle of the vehicle;
and carrying out navigation processing on the vehicle according to the target course angle of the vehicle.
2. The vehicle navigation method according to claim 1, wherein the determining the left and right wheel tracks of the non-steerable wheels of the vehicle based on the roll angle and the lateral acceleration of the vehicle comprises:
determining a first product of the roll angle and a first coefficient;
determining a second product of the lateral acceleration and a second coefficient;
and determining the left and right wheel tracks of the non-steering wheels of the vehicle according to the initial left and right wheel tracks obtained by current measurement and the sum of the first product and the second product.
3. The vehicle navigation method according to claim 1, wherein the compensating the posture information to obtain compensated posture information includes:
determining a wheel speed coefficient of a constraint equation according to the pitch angle and the lateral acceleration of the vehicle;
determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient and the rear wheel rotation angle of the vehicle;
and carrying out compensation processing on the posture information based on the constraint information to obtain the compensated posture information.
4. The vehicle navigation method according to claim 3, wherein the determining constraint information according to the constraint equation, the wheel speed of the vehicle, the wheel speed coefficient, and the rear wheel rotation angle of the vehicle includes:
determining a first constraint parameter value and a second constraint parameter value according to the wheel speed of the vehicle and the rear wheel steering angle of the vehicle;
and inputting the first constraint parameter value, the second constraint parameter value and the wheel speed coefficient into the constraint equation to obtain the constraint information.
5. The vehicle navigation method according to claim 1, characterized in that determining a target heading angle of the vehicle from the compensated posture information and the heading angle of the vehicle includes:
acquiring a track angle output by a satellite navigation system;
correcting the course angle of the vehicle according to the track angle to obtain a corrected course angle;
and determining the target course angle of the vehicle according to the corrected course angle and the compensated gesture information.
6. The vehicle navigation method according to claim 5, wherein correcting the heading angle of the vehicle according to the track angle to obtain a corrected heading angle includes:
determining a third product of the track angle and a third coefficient;
determining a fourth product of the heading angle and a fourth coefficient;
and taking the sum of the third product and the fourth product as the corrected heading angle.
7. The vehicle navigation method according to claim 5, characterized in that the determining the target heading angle of the vehicle from the corrected heading angle and the compensated pose information includes:
acquiring a compensated course angle from the compensated posture information;
determining a fifth product of the compensated heading angle and a fifth coefficient;
determining a sixth product of the corrected heading angle and a sixth coefficient;
and taking the sum of the fifth product and the sixth product as a target course angle of the vehicle.
8. A vehicle navigation device, characterized by comprising:
the determining module is used for determining left and right wheel tracks of non-steering wheels of the vehicle according to the roll angle and the lateral acceleration of the vehicle;
the determining module is used for determining the course angle of the vehicle according to the left and right wheel tracks 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 kinematics model;
the acquisition module is used for acquiring the attitude information of the vehicle output by the inertial navigation system;
the compensation module is used for carrying out compensation processing on the gesture information to obtain compensated gesture information;
the determining module is used for determining the course angle of the vehicle according to the compensated gesture information and the course angle of the vehicle;
and the navigation module is used for carrying out navigation processing on the vehicle according to the target course angle of the vehicle.
9. An electronic device comprising a memory and a processor, the memory storing a computer program executable by the processor, the processor implementing the steps of the vehicle navigation method of any of the preceding claims 1-7 when the computer program is executed.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the vehicle navigation method according to any of claims 1-7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117053803A (en) * | 2023-10-10 | 2023-11-14 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117053803A (en) * | 2023-10-10 | 2023-11-14 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
| CN117053803B (en) * | 2023-10-10 | 2024-01-26 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
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