CN109974736A - The air navigation aid and device of vehicle - Google Patents
The air navigation aid and device of vehicle Download PDFInfo
- Publication number
- CN109974736A CN109974736A CN201910281327.3A CN201910281327A CN109974736A CN 109974736 A CN109974736 A CN 109974736A CN 201910281327 A CN201910281327 A CN 201910281327A CN 109974736 A CN109974736 A CN 109974736A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- moment
- information
- steering angle
- angular velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000001914 filtration Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 210000003733 optic disk Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention proposes the air navigation aid and device of a kind of vehicle, wherein this method comprises: passing through the location information, steering angle, the steering angular velocity, vehicle speed information that obtain k-th of moment vehicle；The steering angle increment information of vehicle described in from k-th of moment to+1 moment of kth is obtained according to the steering angular velocity of vehicle described in k-th of moment；The positional increment information of vehicle described in from k-th of moment to+1 moment of kth is determined according to the vehicle speed information of vehicle described in k-th of moment and the steering angle；It is navigated according to the location information of vehicle described in the steering angle increment information, the positional increment information and k-th of moment, steering angle to the vehicle.Due to having merged the vehicle data of vehicle itself, when navigation, interacts with vehicle well, improves the navigation accuracy of vehicle, optimizes navigation experience.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to the air navigation aids and device of a kind of vehicle.
Background technique
With the arrival of intellectualization times, more and more automobile manufacturing companies pay attention to the research and development of autonomous driving vehicle.From
Dynamic driving allows computer by cooperative cooperatings such as artificial intelligence, vision calculating, radar, monitoring device and global positioning systems
Automatic safe motor vehicles can be operated under the operation of nobody class active.
Currently, autonomous driving vehicle relies primarily on global positioning system (GPS, Global Positioning System)
It navigates with inertial sensor.However, this mode for relying on external sensor and navigating, does not consider the vehicle of vehicle itself
Data, do not interact with vehicle, the precision of navigation is to be improved well.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of air navigation aid of vehicle.
Second object of the present invention is to propose a kind of navigation device of vehicle.
Third object of the present invention is to propose a kind of computer equipment.
Fourth object of the present invention is to propose a kind of computer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of air navigation aid of vehicle, comprising:
Obtain the location information, steering angle, steering angular velocity, vehicle speed information of k-th of moment vehicle；
Vehicle described in from k-th of moment to+1 moment of kth is obtained according to the steering angular velocity of vehicle described in k-th of moment
Steering angle increment information；
When being determined according to the vehicle speed information of vehicle described in k-th of moment and the steering angle from k-th of moment to kth+1
Carve the positional increment information of the vehicle；
Believed according to the position of vehicle described in the steering angle increment information, the positional increment information and k-th of moment
Breath, steering angle navigate to the vehicle.
Further, the location information for obtaining k-th of moment vehicle includes:
The first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, by described first
Position detection value of the location information as vehicle described in k-th of moment；
Obtain the second location information of the vehicle at -1 moment of kth；
It is obtained described in k-th of moment according to the position detection value of vehicle described in k-th of moment and the second location information
The position optimal estimation value, is determined as the location information of vehicle described in k-th of moment by the position optimal estimation value of vehicle.
Further, the steering angular velocity for obtaining k-th of moment vehicle includes:
The first steering angular velocity that k-th moment pass through the collected vehicle of vehicle-mounted gyroscope is obtained, by described the
Steering angular velocity observation of one steering angular velocity as vehicle described in k-th of moment；
Obtain the second steering angular velocity of the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle；
Turning for vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
To angular speed optimal estimation value, the steering angular velocity optimal estimation value is determined as to the steering angle of vehicle described in k-th of moment
Speed.
Further, when the vehicle speed information of the vehicle according to k-th of moment and the steering angle are determined from k-th
It is carved into the positional increment information of vehicle described in+1 moment of kth, comprising:
Vehicle described in from k-th of moment to+1 moment of kth is calculated according to the vehicle speed information of vehicle described in k-th of moment
Driving trace increment information；
According to the steering angle of vehicle described in the driving trace increment information and k-th of moment determine from k-th of moment to
The positional increment information of vehicle described in+1 moment of kth.
Further, described according to the steering angle increment information, the positional increment information and k-th of moment
Location information, the steering angle of vehicle navigate to the vehicle, comprising:
Described in+1 moment of kth is determined according to the location information of vehicle described in the positional increment information and k-th of moment
The location information of vehicle；
Described in+1 moment of kth is determined according to the steering angle of vehicle described in the steering angle increment information and k-th of moment
The steering angle of vehicle；
It is navigated according to the location information of vehicle described in+1 moment of kth and information and steering angle to the vehicle.
The air navigation aid of vehicle provided in an embodiment of the present invention, by obtaining the location information of k-th of moment vehicle, turning to
Angle, steering angular velocity, vehicle speed information；Obtained from k-th of moment to kth according to the steering angular velocity of vehicle described in k-th of moment+
The steering angle increment information of vehicle described in 1 moment；It is true according to the vehicle speed information of vehicle described in k-th of moment and the steering angle
The positional increment information of fixed vehicle described in from k-th of moment to+1 moment of kth；According to the steering angle increment information, described
Location information, the steering angle of vehicle described in positional increment information and k-th of moment navigate to the vehicle.Due to fusion
The vehicle data of vehicle itself, when navigation, interact with vehicle well, improve the navigation accuracy of vehicle, optimize and lead
Boat experience.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of navigation device of vehicle, comprising:
Module is obtained, for obtaining the location information, steering angle, steering angular velocity, vehicle speed information of k-th of moment vehicle；
Processing module, the steering angular velocity for the vehicle according to k-th of moment were obtained from k-th of moment to kth+1
The steering angle increment information of vehicle described in a moment；
The processing module, be also used to the vehicle according to k-th of moment vehicle speed information and the steering angle determine from
The positional increment information of vehicle described in k-th of moment to+1 moment of kth；
Navigation module, for according to the steering angle increment information, the positional increment information and k-th of moment
Location information, the steering angle of vehicle navigate to the vehicle.
Further, the acquisition module is specifically used for:
The first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, by described first
Position detection value of the location information as vehicle described in k-th of moment；
Obtain the second location information of the vehicle at -1 moment of kth；
It is obtained described in k-th of moment according to the position detection value of vehicle described in k-th of moment and the second location information
The position optimal estimation value, is determined as the location information of vehicle described in k-th of moment by the position optimal estimation value of vehicle.
Further, the acquisition module is specifically used for:
The first steering angular velocity that k-th moment pass through the collected vehicle of vehicle-mounted gyroscope is obtained, by described the
Steering angular velocity observation of one steering angular velocity as vehicle described in k-th of moment；
Obtain the second steering angular velocity of the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle；
Turning for vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
To angular speed optimal estimation value, the steering angular velocity optimal estimation value is determined as to the steering angle of vehicle described in k-th of moment
Speed.
Further, the processing module is specifically used for:
Vehicle described in from k-th of moment to+1 moment of kth is calculated according to the vehicle speed information of vehicle described in k-th of moment
Driving trace increment information；
According to the steering angle of vehicle described in the driving trace increment information and k-th of moment determine from k-th of moment to
The positional increment information of vehicle described in+1 moment of kth.
Further, the navigation module is specifically used for:
Described in+1 moment of kth is determined according to the location information of vehicle described in the positional increment information and k-th of moment
The location information of vehicle；
Described in+1 moment of kth is determined according to the steering angle of vehicle described in the steering angle increment information and k-th of moment
The steering angle of vehicle；
It is navigated according to the location information of vehicle described in+1 moment of kth and information and steering angle to the vehicle.
The navigation device of vehicle provided in an embodiment of the present invention, by obtaining the location information of k-th of moment vehicle, turning to
Angle, steering angular velocity, vehicle speed information；Obtained from k-th of moment to kth according to the steering angular velocity of vehicle described in k-th of moment+
The steering angle increment information of vehicle described in 1 moment；It is true according to the vehicle speed information of vehicle described in k-th of moment and the steering angle
The positional increment information of fixed vehicle described in from k-th of moment to+1 moment of kth；According to the steering angle increment information, described
Location information, the steering angle of vehicle described in positional increment information and k-th of moment navigate to the vehicle.Due to fusion
The vehicle data of vehicle itself, when navigation, interact with vehicle well, improve the navigation accuracy of vehicle, optimize and lead
Boat experience.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
The air navigation aid of vehicle as described above.
To achieve the goals above, fourth aspect present invention embodiment proposes a kind of computer readable storage medium, when
When instruction in the storage medium is executed by processor, the air navigation aid of vehicle as described above is realized.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of the air navigation aid of vehicle provided in an embodiment of the present invention；
Fig. 2 is illustrative driving trace figure；
Fig. 3 is the schematic diagram for calculating steering angular velocity；
Fig. 4 is the flow diagram of the air navigation aid of another vehicle provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of the air navigation aid of another vehicle provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the navigation device of vehicle provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of computer equipment provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the air navigation aid and device of the vehicle of the embodiment of the present invention are described.
Fig. 1 is a kind of flow diagram of the air navigation aid of vehicle provided in an embodiment of the present invention.It present embodiments provides
A kind of air navigation aid of vehicle, executing subject are the air navigation aid device of vehicle, and the executing subject is by hardware and/or software group
At.The air navigation aid device of vehicle is specifically as follows hardware device, such as terminal device, background server etc. or hardware is set
The software of standby upper installation or application program etc..
As shown in Figure 1, the air navigation aid of the vehicle, comprising the following steps:
S101, location information, steering angle, the steering angular velocity, vehicle speed information for obtaining k-th of moment vehicle.
Fig. 2 is illustrative driving trace figure.In driving trace figure shown in Fig. 2, the coordinate of reference frame XOY is former
Point O is the initial position (x0, y0) of vehicle, and the direction horizontally to the right of origin O is the positive direction of X-axis, the side straight up of origin O
To the positive direction for Y-axis.
Specifically, vehicle sets out from initial position (x0, y0), with speed v1 traveling, in the moment in-position t1 point (x1,
Y1), driving trace s1, the steering angle of vehicle are θ 1；Vehicle is with speed v2 traveling, in the moment in-position t2 point (x2, y2),
Driving trace is s1+s2, and s2 is the driving trace increment information of t1 moment to t2 this period at moment, and the steering angle of vehicle is θ
2；Vehicle is with speed v2 traveling, in the moment in-position t2 point (x2, y2), when driving trace s1+s2, s2 are the t1 moment to t2
The driving trace increment information of this period is carved, the steering angle of vehicle is θ 2；Vehicle reaches position at the t3 moment with speed v3 traveling
It setting point (x3, y3), driving trace s1+s2+s3, s3 are the driving trace increment information of t2 moment to t3 this period at moment,
The steering angle of vehicle is θ 3.
In the present embodiment, the navigation principle of vehicle is the vehicle that future time instance is derived according to the information of vehicles of historical juncture
Information, information of vehicles are, for example, the steering angle etc. of the location information of vehicle, vehicle.By taking Fig. 2 as an example, according to vehicle in initial position
The information of vehicles of (x0, y0) can derive vehicle in the information of vehicles of location point (x1, y1), according to vehicle location point (x1,
Y1 information of vehicles) can derive vehicle in the information of vehicles of location point (x2, y2), and so on, according to the historical juncture
Information of vehicles derives the information of vehicles of future time instance.
In the present embodiment, the mode that the location information of k-th of moment vehicle obtains is unlimited, and k is natural number.For example, passing through
The global positioning system (GPS, Global Positioning System) of vehicle loading orients the position of k-th of moment vehicle
Confidence breath；In another example orienting the location information of k-th of moment vehicle by the inertial navigation system of vehicle loading.
In the present embodiment, the mode of the acquisition of the steering angular velocity of k-th of moment vehicle is unlimited.For example, being taken by vehicle
The vehicle-mounted gyroscope carried obtains steering angular velocity.In another example according to the wheel speed acquisition of information steering angular velocity of vehicle.It may be noted that
, due to considering the wheel speed information of vehicle, steering angle or location information of the vehicle obtained based on the steering angular velocity etc.
Information of vehicles is more accurate, improves the precision of automobile navigation, ensure that the safety of vehicle.
Fig. 3 is the schematic diagram for calculating steering angular velocity.Based in short time Δ t vehicle doing circumference around a center
The theory of movement can calculate the rotational angular velocity of vehicle according to the speed difference of vehicle wheel rotation.Specifically, pass through wheel velocity
Sensor acquires the near front wheel wheel speed VS1 and the near front wheel wheel speed VS2 of wheel, and the wheelspan for obtaining vehicle is Δ r；The near front wheel wheel speed
VS1 obtains the near front wheel operating range L1 multiplied by short time Δ t, and off-front wheel wheel speed VS2 obtains the near front wheel multiplied by short time Δ t and travels
Distance L2；It can be derived by according to the formula of concentric circlesDue to short time Δ t very little, by what is be derived byRotational angular velocity as vehicle.
In the present embodiment, steering angle increment information Δ θ can be obtained by carrying out integral to steering angular velocity, and then according to going through
The steering angle and steering angle increment information Δ θ at history moment calculate the steering angle of the vehicle of future time instance.
It is the 0th moment t0, i.e. initial time at the time of note initial position (x0, y0) is corresponding by taking Fig. 2 as an example, at the beginning
The steering angle for carving vehicle is 0 °；The rotation of vehicle is calculated according to the near front wheel wheel speed VS1 at the 0th moment and the near front wheel wheel speed VS2
Angular velocity omega 0 integrates rotational angular velocity ω 0, and integrating range is [t0, t1], and then obtains vehicle from the 0th moment to the
The steering angle increment information Δ θ at 1 moment；By the steering angle of initial time vehicle be 0 ° with from the 0th moment turning to the 1st moment
Angle increment information Δ θ sums, and obtains the steering angle of the vehicle at the 1st moment (the corresponding moment t1 of location point (x1, y1)).Successively
Analogize, from the 1st moment to the 2nd moment by the steering angle of the vehicle at the 1st moment (location point (x1, y1) corresponding moment t1) and vehicle
Steering angle increment information Δ θ sum, obtain the steering of the vehicle at the 2nd moment (location point (x2, y2) corresponding moment t2)
Angle.From the 2nd moment to the 3rd moment by the steering angle of the vehicle at the 2nd moment (the corresponding moment t2 of location point (x2, y2)) and vehicle
Steering angle increment information Δ θ sums, and obtains the steering angle of the vehicle at the 3rd moment (the corresponding moment t3 of location point (x3, y3)).
In the present embodiment, the vehicle speed information of k-th of moment vehicle is for example obtained by vehicle speed sensor, but not as
Limit.
S102, the vehicle according to k-th of moment steering angular velocity obtain from k-th of moment to+1 moment institute of kth
State the steering angle increment information of vehicle.
In the present embodiment, integrated to obtain from k-th of moment by the steering angular velocity of the vehicle described in k-th of moment
To the steering angle increment information of vehicle described in+1 moment of kth.
It is the 0th moment t0, the angle of rotation speed of the 0th moment t0 at the time of note initial position (x0, y0) is corresponding by taking Fig. 2 as an example
Degree is ω 0, is integrated to rotational angular velocity ω 0, and integrating range is [t0, t1], and then obtains vehicle from the 0th moment to the 1st
The steering angle increment information Δ θ at moment.And so on, the rotational angular velocity of the 1st moment t1 is ω 1, to rotational angular velocity ω 1 into
Row integral, integrating range is [t1, t2], and then obtains steering angle increment information Δ θ of the vehicle from the 1st moment to the 2nd moment.According to
Secondary to analogize, the rotational angular velocity of the 2nd moment t2 is ω 2, is integrated to rotational angular velocity ω 2, and integrating range is [t2, t3],
And then obtain steering angle increment information Δ θ of the vehicle from the 2nd moment to the 3rd moment.
S103, the vehicle speed information of the vehicle according to k-th of moment and the steering angle determine from k-th of moment to kth+
The positional increment information of vehicle described in 1 moment.
In the present embodiment, the specific implementation of S103 are as follows: according to the vehicle speed information of vehicle described in k-th of moment calculate from
The driving trace increment information of vehicle described in k-th of moment to+1 moment of kth；According to the driving trace increment information and
The steering angle of vehicle described in k moment determines the positional increment information of vehicle described in from k-th of moment to+1 moment of kth.
By taking Fig. 2 as an example, vehicle sets out from initial position (x0, y0), with speed v1 traveling, in the moment in-position t1 point
(x1, y1), driving trace s1, and s1 are the driving trace increment information of t0 moment to t1 this period at moment, and vehicle turns
It is θ 1 to angle, positional increment information is (Δ x1, Δ y1), wherein Δ x1=s1 × sin θ 1, Δ y1=s1 × cos θ 1.
Vehicle is with speed v2 traveling, and in the moment in-position t2 point (x2, y2), driving trace s1+s2, s2 are the t1 moment
To the driving trace increment information of t2 this period at moment, the steering angle of vehicle is θ 2, and positional increment information is (Δ x2, Δ
Y2), wherein Δ x2=s2 × sin θ 2, Δ y2=s2 × cos θ 2.
Vehicle is with speed v3 traveling, in the moment in-position t3 point (x3, y3), driving trace s1+s2+s3, s3 t2
The driving trace increment information of moment to t3 this period at moment, the steering angle of vehicle are θ 3, positional increment information be (Δ x3,
Δ y3), wherein Δ x3=s3 × sin θ 3, Δ y3=s3 × cos θ 3.
The position of S104, the vehicle according to the steering angle increment information, the positional increment information and k-th of moment
Confidence breath, steering angle navigate to the vehicle.
In the present embodiment, the specific implementation of S104 are as follows: according to vehicle described in the positional increment information and k-th of moment
Location information determine the location information of vehicle described in+1 moment of kth；When according to the steering angle increment information and k-th
The steering angle for carving the vehicle determines the steering angle of vehicle described in+1 moment of kth；According to the position of vehicle described in+1 moment of kth
Confidence breath and information and steering angle navigate to the vehicle.
By taking Fig. 2 as an example, the location information of t0 moment vehicle is (x0, y0), the location information (x1, y1) of t1 moment vehicle=
The location information (x2, y2) of (x0+ Δ x1, y0+ Δ y1), t2 moment vehicle=(x1+ Δ x2, y1+ Δ y2), t3 moment vehicle
Location information (x3, y3)=(x2+ Δ x3, y2+ Δ y3).
The air navigation aid of vehicle provided in an embodiment of the present invention, by obtaining the location information of k-th of moment vehicle, turning to
Angle, steering angular velocity, vehicle speed information；Obtained from k-th of moment to kth according to the steering angular velocity of vehicle described in k-th of moment+
The steering angle increment information of vehicle described in 1 moment；It is true according to the vehicle speed information of vehicle described in k-th of moment and the steering angle
The positional increment information of fixed vehicle described in from k-th of moment to+1 moment of kth；According to the steering angle increment information, described
Location information, the steering angle of vehicle described in positional increment information and k-th of moment navigate to the vehicle.Due to fusion
The vehicle data of vehicle itself, when navigation, interact with vehicle well, improve the navigation accuracy of vehicle, optimize and lead
Boat experience.
Fig. 4 is the flow diagram of the air navigation aid of another vehicle provided in an embodiment of the present invention.The present embodiment provides
A kind of air navigation aid of vehicle, executing subject are the air navigation aid device of vehicle, and the executing subject is by hardware and/or software
Composition.The air navigation aid device of vehicle is specifically as follows hardware device, such as terminal device, background server etc. or hardware
The software installed in equipment or application program etc..
In conjunction with reference Fig. 4, on the basis of embodiment shown in Fig. 1, the tool of " location information for obtaining k-th of moment vehicle "
Body implementation are as follows:
S201, the first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, will be described
Position detection value of the first location information as vehicle described in k-th of moment.
The second location information of S202, the vehicle at acquisition -1 moment of kth.
S203, the position detection value of the vehicle according to k-th of moment and the second location information obtain k-th of moment
The position optimal estimation value of the vehicle believes the position that the position optimal estimation value is determined as vehicle described in k-th of moment
Breath.
Simplicity of explanation is carried out to Kalman filtering algorithm at this:
X [i+1]=(1-K [i+1]) x [i]+K [i+1] * z [i+1] (1)
Formula (1) is Kalman filtering algorithm, and in formula (1), X [i+1] is this optimal estimation value, and K [i+1] is
This kalman gain coefficient, x [i] are the optimal estimation value of last time, and z [i+1] is this observation.Use kalman gain
Coefficient distributes the weight of x [i] and z [i+1], to obtain this optimal estimation value.The value range of kalman gain coefficient
For (0,1), is more introduced about Kalman filtering algorithm and be detailed in the relevant technologies.
By taking Fig. 2 as an example, when the initial position (x0, y0) of vehicle can be obtained by global positioning system.
The acquisition modes of the location point (x1, y1) at t1 moment are as follows: most as last time by the location point (x0, y0) at t0 moment
Excellent estimated value x [i], the sight of the first location information of the vehicle that the t1 moment is obtained by global positioning system as this
This kalman gain COEFFICIENT K [i+1] is arranged according to practical situation for measured value；This optimal estimation is obtained according to formula (1)
The location point (x1, y1) at value X [i+1] i.e. t1 moment.
The acquisition modes of the location point (x2, y2) at t2 moment are as follows: most as last time by the location point (x1, y1) at t1 moment
Excellent estimated value x [i], the sight of the first location information of the vehicle that the t2 moment is obtained by global positioning system as this
This kalman gain COEFFICIENT K [i+1] is arranged according to practical situation for measured value；This optimal estimation is obtained according to formula (1)
The location point (x2, y2) at value X [i+1] i.e. t2 moment.
The acquisition modes of the location point (x3, y3) at t3 moment are as follows: most as last time by the location point (x2, y2) at t2 moment
Excellent estimated value x [i], the sight of the first location information of the vehicle that the t3 moment is obtained by global positioning system as this
This kalman gain COEFFICIENT K [i+1] is arranged according to practical situation for measured value；This optimal estimation is obtained according to formula (1)
The location point (x3, y3) at value X [i+1] i.e. t3 moment.
The air navigation aid of vehicle provided in an embodiment of the present invention, since Kalman filtering algorithm is a kind of calculation of optimal estimation
Method can more precisely obtain the location information of k-th of moment vehicle using Kalman filtering algorithm, and then be conducive to be promoted
The navigation accuracy of vehicle.
Fig. 5 is the flow diagram of the air navigation aid of another vehicle provided in an embodiment of the present invention.The present embodiment provides
A kind of air navigation aid of vehicle, executing subject are the air navigation aid device of vehicle, and the executing subject is by hardware and/or software
Composition.The air navigation aid device of vehicle is specifically as follows hardware device, such as terminal device, background server etc. or hardware
The software installed in equipment or application program etc..
In conjunction with reference Fig. 5, on the basis of embodiment shown in Fig. 1, " steering angular velocity for obtaining k-th of moment vehicle "
Specific implementation are as follows:
S301, first steering angular velocity of k-th of moment by the collected vehicle of vehicle-mounted gyroscope is obtained, by institute
State steering angular velocity observation of first steering angular velocity as vehicle described in k-th of moment；
S302, the second steering angle for obtaining the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle
Speed；
S303, vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
Steering angular velocity optimal estimation value, the steering angular velocity optimal estimation value is determined as vehicle described in k-th of moment
Steering angular velocity.
By taking Fig. 2 as an example, the rotational angular velocity of the 0th moment t0 is ω 0, can pass through the wheel speed acquisition of information steering angle of vehicle
Speed omega 0.
The rotational angular velocity at t1 moment is the acquisition modes of ω 1 are as follows: regard the rotational angular velocity at t0 moment as last time for ω 0
Optimal estimation value x [i]；Using the t1 moment by the first steering angular velocity of the collected vehicle of vehicle-mounted gyroscope as this
Secondary observation；This kalman gain COEFFICIENT K [i+1] is set according to practical situation；This is obtained most according to formula (1)
Excellent estimated value X [i+1] the i.e. rotational angular velocity at t1 moment is ω 1.
The rotational angular velocity at t2 moment is the acquisition modes of ω 2 are as follows: according to the rotation at the wheel speed calculation t1 moment at t1 moment
Angular speed is ω 1, is optimal estimation value x [i] of the ω 1 as last time by the rotational angular velocity at t1 moment；The t2 moment is passed through into vehicle
Carry observation of first steering angular velocity as this of the collected vehicle of gyroscope；According to practical situation, this is set
Kalman gain COEFFICIENT K [i+1]；This optimal estimation value X [i+1] the i.e. angle of rotation at t2 moment is obtained according to formula (1)
Speed is ω 2.
The rotational angular velocity at t3 moment is the acquisition modes of ω 3 are as follows: according to the rotation at the wheel speed calculation t2 moment at t3 moment
Angular speed is ω 2, is optimal estimation value x [i] of the ω 2 as last time by the rotational angular velocity at t2 moment；The t3 moment is passed through into vehicle
Carry observation of first steering angular velocity as this of the collected vehicle of gyroscope；According to practical situation, this is set
Kalman gain COEFFICIENT K [i+1]；This optimal estimation value X [i+1] the i.e. angle of rotation at t3 moment is obtained according to formula (1)
Speed is ω 3.
The air navigation aid of vehicle provided in an embodiment of the present invention, since Kalman filtering algorithm is a kind of calculation of optimal estimation
Method can more precisely obtain the steering angular velocity of k-th of moment vehicle using Kalman filtering algorithm, and then be conducive to mention
Rise the navigation accuracy of vehicle.
Fig. 6 is a kind of structural schematic diagram of the navigation device of vehicle provided in an embodiment of the present invention.It present embodiments provides
A kind of navigation device of vehicle, the device are the executing subjects of the air navigation aid of vehicle, and the executing subject is by hardware and/or software
Composition.As shown in fig. 6, the navigation device of the vehicle includes: to obtain module 11, processing module 12, navigation module 13.
Module 11 is obtained, for obtaining location information, steering angle, steering angular velocity, the speed letter of k-th of moment vehicle
Breath；
Processing module 12, the steering angular velocity for the vehicle according to k-th of moment obtains from k-th of moment to kth+
The steering angle increment information of vehicle described in 1 moment；
The processing module 12, the vehicle speed information and the steering angle for being also used to the vehicle according to k-th of moment determine
The positional increment information of vehicle described in from k-th of moment to+1 moment of kth；
Navigation module 13, for according to the steering angle increment information, the positional increment information and k-th of moment institute
State the location information of vehicle, steering angle navigates to the vehicle.
Further, the acquisition module 11 is specifically used for:
The first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, by described first
Position detection value of the location information as vehicle described in k-th of moment；
Obtain the second location information of the vehicle at -1 moment of kth；
It is obtained described in k-th of moment according to the position detection value of vehicle described in k-th of moment and the second location information
The position optimal estimation value, is determined as the location information of vehicle described in k-th of moment by the position optimal estimation value of vehicle.
Further, the acquisition module 11 is specifically used for:
The first steering angular velocity that k-th moment pass through the collected vehicle of vehicle-mounted gyroscope is obtained, by described the
Steering angular velocity observation of one steering angular velocity as vehicle described in k-th of moment；
Obtain the second steering angular velocity of the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle；
Turning for vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
To angular speed optimal estimation value, the steering angular velocity optimal estimation value is determined as to the steering angle of vehicle described in k-th of moment
Speed.
Further, the processing module 12 is specifically used for:
Vehicle described in from k-th of moment to+1 moment of kth is calculated according to the vehicle speed information of vehicle described in k-th of moment
Driving trace increment information；
According to the steering angle of vehicle described in the driving trace increment information and k-th of moment determine from k-th of moment to
The positional increment information of vehicle described in+1 moment of kth.
Further, the navigation module 13 is specifically used for:
Described in+1 moment of kth is determined according to the location information of vehicle described in the positional increment information and k-th of moment
The location information of vehicle；
Described in+1 moment of kth is determined according to the steering angle of vehicle described in the steering angle increment information and k-th of moment
The steering angle of vehicle；
It is navigated according to the location information of vehicle described in+1 moment of kth and information and steering angle to the vehicle.
It should be noted that the explanation of the aforementioned air navigation aid embodiment to vehicle is also applied for the vehicle of the embodiment
Navigation device, details are not described herein again.
The navigation device of vehicle provided in an embodiment of the present invention, by obtaining the location information of k-th of moment vehicle, turning to
Angle, steering angular velocity, vehicle speed information；Obtained from k-th of moment to kth according to the steering angular velocity of vehicle described in k-th of moment+
The steering angle increment information of vehicle described in 1 moment；It is true according to the vehicle speed information of vehicle described in k-th of moment and the steering angle
The positional increment information of fixed vehicle described in from k-th of moment to+1 moment of kth；According to the steering angle increment information, described
Location information, the steering angle of vehicle described in positional increment information and k-th of moment navigate to the vehicle.Due to fusion
The vehicle data of vehicle itself, when navigation, interact with vehicle well, improve the navigation accuracy of vehicle, optimize and lead
Boat experience.
Fig. 7 is a kind of structural schematic diagram of computer equipment provided in an embodiment of the present invention.The computer equipment includes:
Memory 1001, processor 1002 and it is stored in the calculating that can be run on memory 1001 and on processor 1002
Machine program.
Processor 1002 realizes the air navigation aid of the vehicle provided in above-described embodiment when executing described program.
Further, computer equipment further include:
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for storing the computer program that can be run on processor 1002.
Memory 1001 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
Processor 1002 realizes the air navigation aid of vehicle described in above-described embodiment when for executing described program.
If memory 1001, processor 1002 and the independent realization of communication interface 1003, communication interface 1003, memory
1001 and processor 1002 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (Industry Standard Architecture, referred to as ISA) bus, external equipment interconnection
(Peripheral Component, referred to as PCI) bus or extended industry-standard architecture (Extended Industry
Standard Architecture, referred to as EISA) bus etc..The bus can be divided into address bus, data/address bus, control
Bus processed etc..Only to be indicated with a thick line in Fig. 7, it is not intended that an only bus or a type of convenient for indicating
Bus.
Optionally, in specific implementation, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
It is realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can be completed mutual by internal interface
Communication.
Processor 1002 may be a central processing unit (Central Processing Unit, referred to as CPU), or
Person is specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC) or quilt
It is configured to implement one or more integrated circuits of the embodiment of the present invention.
The present embodiment also provides a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that
The program realizes the air navigation aid of vehicle as described above when being executed by processor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (12)
1. a kind of air navigation aid of vehicle characterized by comprising
Obtain the location information, steering angle, steering angular velocity, vehicle speed information of k-th of moment vehicle；
Turning for vehicle described in from k-th of moment to+1 moment of kth is obtained according to the steering angular velocity of vehicle described in k-th of moment
To angle increment information；
It is determined according to the vehicle speed information of vehicle described in k-th of moment and the steering angle from k-th of moment to+1 moment institute of kth
State the positional increment information of vehicle；
According to the location information of vehicle described in the steering angle increment information, the positional increment information and k-th of moment, turn
It navigates to angle to the vehicle.
2. the method as described in claim 1, which is characterized in that it is described obtain k-th of moment vehicle location information include:
The first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, by the first position
Position detection value of the information as vehicle described in k-th of moment；
Obtain the second location information of the vehicle at -1 moment of kth；
Vehicle described in k-th of moment is obtained according to the position detection value of vehicle described in k-th of moment and the second location information
Position optimal estimation value, the position optimal estimation value is determined as to the location information of vehicle described in k-th of moment.
3. the method as described in claim 1, which is characterized in that it is described obtain k-th of moment vehicle steering angular velocity include:
First steering angular velocity of k-th of moment by the collected vehicle of vehicle-mounted gyroscope is obtained, by described first turn
Steering angular velocity observation to angular speed as vehicle described in k-th of moment；
Obtain the second steering angular velocity of the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle；
The steering angle of vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
The steering angular velocity optimal estimation value is determined as the steering angular velocity of vehicle described in k-th of moment by speed optimal estimation value.
4. the method as described in claim 1, which is characterized in that the vehicle speed information of the vehicle according to k-th of moment and
The steering angle determines the positional increment information of vehicle described in from k-th of moment to+1 moment of kth, comprising:
The traveling of vehicle described in from k-th of moment to+1 moment of kth is calculated according to the vehicle speed information of vehicle described in k-th of moment
Track increment information；
It is determined according to the steering angle of vehicle described in the driving trace increment information and k-th of moment from k-th of moment to kth+1
The positional increment information of vehicle described in a moment.
5. the method as described in claim 1, which is characterized in that described to be increased according to the steering angle increment information, the position
Location information, the steering angle of vehicle described in amount information and k-th of moment navigate to the vehicle, comprising:
According to the location information of vehicle described in the positional increment information and k-th of moment determine+1 moment of kth described in vehicle
Location information；
According to the steering angle of vehicle described in the steering angle increment information and k-th of moment determine+1 moment of kth described in vehicle
Steering angle；
It is navigated according to the location information of vehicle described in+1 moment of kth and information and steering angle to the vehicle.
6. a kind of navigation device of vehicle characterized by comprising
Module is obtained, for obtaining the location information, steering angle, steering angular velocity, vehicle speed information of k-th of moment vehicle；
Processing module, when the steering angular velocity for the vehicle according to k-th of moment is obtained from k-th of moment to kth+1
Carve the steering angle increment information of the vehicle；
The processing module, the vehicle speed information and the steering angle for being also used to the vehicle according to k-th of moment are determined from k-th
The positional increment information of vehicle described in moment to+1 moment of kth；
Navigation module is used for the vehicle according to the steering angle increment information, the positional increment information and k-th of moment
Location information, steering angle navigates to the vehicle.
7. device as claimed in claim 6, which is characterized in that the acquisition module is specifically used for:
The first location information for obtaining the vehicle that k-th of moment is obtained by global positioning system, by the first position
Position detection value of the information as vehicle described in k-th of moment；
Obtain the second location information of the vehicle at -1 moment of kth；
Vehicle described in k-th of moment is obtained according to the position detection value of vehicle described in k-th of moment and the second location information
Position optimal estimation value, the position optimal estimation value is determined as to the location information of vehicle described in k-th of moment.
8. device as claimed in claim 6, which is characterized in that the acquisition module is specifically used for:
First steering angular velocity of k-th of moment by the collected vehicle of vehicle-mounted gyroscope is obtained, by described first turn
Steering angular velocity observation to angular speed as vehicle described in k-th of moment；
Obtain the second steering angular velocity of the vehicle that -1 moment of kth is obtained by the wheel speed information of the vehicle；
The steering angle of vehicle described in k-th of moment is determined according to the steering angular velocity observation and second steering angular velocity
The steering angular velocity optimal estimation value is determined as the steering angular velocity of vehicle described in k-th of moment by speed optimal estimation value.
9. device as claimed in claim 6, which is characterized in that the processing module is specifically used for:
The traveling of vehicle described in from k-th of moment to+1 moment of kth is calculated according to the vehicle speed information of vehicle described in k-th of moment
Track increment information；
It is determined according to the steering angle of vehicle described in the driving trace increment information and k-th of moment from k-th of moment to kth+1
The positional increment information of vehicle described in a moment.
10. device as claimed in claim 6, which is characterized in that the navigation module is specifically used for:
According to the location information of vehicle described in the positional increment information and k-th of moment determine+1 moment of kth described in vehicle
Location information；
According to the steering angle of vehicle described in the steering angle increment information and k-th of moment determine+1 moment of kth described in vehicle
Steering angle；
It is navigated according to the location information of vehicle described in+1 moment of kth and information and steering angle to the vehicle.
11. a kind of computer equipment characterized by comprising
Memory, processor and storage are on a memory and the computer program that can run on a processor, which is characterized in that institute
State the air navigation aid realized when processor executes described program such as vehicle as claimed in any one of claims 1 to 5.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The air navigation aid such as vehicle as claimed in any one of claims 1 to 5 is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910281327.3A CN109974736A (en) | 2019-04-09 | 2019-04-09 | The air navigation aid and device of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910281327.3A CN109974736A (en) | 2019-04-09 | 2019-04-09 | The air navigation aid and device of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109974736A true CN109974736A (en) | 2019-07-05 |
Family
ID=67083695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910281327.3A Pending CN109974736A (en) | 2019-04-09 | 2019-04-09 | The air navigation aid and device of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109974736A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110617825A (en) * | 2019-09-29 | 2019-12-27 | 百度在线网络技术（北京）有限公司 | Vehicle positioning method and device, electronic equipment and medium |
| CN111780756A (en) * | 2020-07-20 | 2020-10-16 | 北京百度网讯科技有限公司 | Vehicle dead reckoning method, device, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110288772A1 (en) * | 2010-05-19 | 2011-11-24 | Denso Corporation | Current position detector for vehicle |
| CN105300395A (en) * | 2014-07-11 | 2016-02-03 | 北京协进科技发展有限公司 | Navigation and positioning method and device |
| CN106123908A (en) * | 2016-09-08 | 2016-11-16 | 北京京东尚科信息技术有限公司 | Automobile navigation method and system |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
| CN110274589A (en) * | 2018-03-15 | 2019-09-24 | 高德信息技术有限公司 | A kind of localization method and device |
-
2019
- 2019-04-09 CN CN201910281327.3A patent/CN109974736A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110288772A1 (en) * | 2010-05-19 | 2011-11-24 | Denso Corporation | Current position detector for vehicle |
| CN105300395A (en) * | 2014-07-11 | 2016-02-03 | 北京协进科技发展有限公司 | Navigation and positioning method and device |
| CN106123908A (en) * | 2016-09-08 | 2016-11-16 | 北京京东尚科信息技术有限公司 | Automobile navigation method and system |
| CN110274589A (en) * | 2018-03-15 | 2019-09-24 | 高德信息技术有限公司 | A kind of localization method and device |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110617825A (en) * | 2019-09-29 | 2019-12-27 | 百度在线网络技术（北京）有限公司 | Vehicle positioning method and device, electronic equipment and medium |
| CN110617825B (en) * | 2019-09-29 | 2022-01-18 | 阿波罗智联(北京)科技有限公司 | Vehicle positioning method and device, electronic equipment and medium |
| CN111780756A (en) * | 2020-07-20 | 2020-10-16 | 北京百度网讯科技有限公司 | Vehicle dead reckoning method, device, equipment and storage medium |
| US11435186B2 (en) | 2020-07-20 | 2022-09-06 | Beijing Baidu Netcom Science and Technology Co., Ltd | Dead reckoning method and apparatus for vehicle, device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108801276A (en) | Accurately drawing generating method and device | |
| CN105865461B (en) | A kind of car position system and method based on Multi-sensor Fusion algorithm | |
| CN109946732A (en) | A kind of unmanned vehicle localization method based on Fusion | |
| CN108919802A (en) | Unmanned vehicle traveling and device | |
| CN110986988B (en) | Track calculation method, medium, terminal and device integrating multi-sensor data | |
| CN111426332B (en) | Course installation error determination method and device, electronic equipment and storage medium | |
| CN101413799B (en) | Combined navigation system for outdoor movable target | |
| CN102466802B (en) | Dead reckoning is used to follow the trail of the method at vehicle location and vehicle heading angle and realize the follow-up mechanism of the method | |
| CN109141411A (en) | Localization method, positioning device, mobile robot and storage medium | |
| CN109974736A (en) | The air navigation aid and device of vehicle | |
| CN104697520A (en) | Combined navigation method based on integrated gyroscope free strapdown inertial navigation system and GPS | |
| CN110763224A (en) | Navigation method and navigation system for automatic guided transport vehicle | |
| CN1139786C (en) | Autonomous positioning and directing navigator | |
| US20070268067A1 (en) | Method and Device for Acquiring a Position of a Motor Vehicle on a Road | |
| CN107228663A (en) | The alignment system and method for a kind of automatical pilot transportation vehicle | |
| CN110779514B (en) | Hierarchical Kalman fusion method and device for auxiliary attitude determination of bionic polarization navigation | |
| Yin et al. | Combinatorial inertial guidance system for an automated guided vehicle | |
| CN109387198A (en) | A kind of inertia based on sequential detection/visual odometry Combinated navigation method | |
| CN106646569A (en) | Navigation and positioning method and device | |
| CN109883432A (en) | Location determining method, device, equipment and computer readable storage medium | |
| CN113494910B (en) | Vehicle positioning method and device based on UWB positioning and storage medium | |
| CN115790613B (en) | Visual information-assisted inertial/odometer combined navigation method and device | |
| CN205941923U (en) | Small aircraft navigation based on GPS and combination of six accelerometer | |
| CN115900732A (en) | Combined navigation method and system based on roadside camera and vehicle-mounted unit | |
| CN110375749A (en) | Air navigation aid and navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211012 Address after: 100176 101, floor 1, building 1, yard 7, Ruihe West 2nd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. Address before: 100085 Baidu Building, 10 Shangdi Tenth Street, Haidian District, Beijing Applicant before: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) Co.,Ltd. |