CN111619553A - Engineering vehicle and parking control method of engineering vehicle - Google Patents
Engineering vehicle and parking control method of engineering vehicle Download PDFInfo
- Publication number
- CN111619553A CN111619553A CN202010456386.2A CN202010456386A CN111619553A CN 111619553 A CN111619553 A CN 111619553A CN 202010456386 A CN202010456386 A CN 202010456386A CN 111619553 A CN111619553 A CN 111619553A
- Authority
- CN
- China
- Prior art keywords
- positioning
- vehicle
- pose information
- parking
- navigation
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
Abstract
The invention provides an engineering vehicle and a parking control method of the engineering vehicle, wherein the engineering vehicle comprises: the first positioning module and the second positioning module; the navigation controller is electrically connected with the first positioning module and the second positioning module and is used for: after a starting instruction is received, a vehicle is positioned by a first positioning module to obtain global pose information; receiving a parking instruction, and searching a parking starting position according to the global pose information; after the parking starting position is determined, the first positioning module is switched to the second positioning module; positioning the vehicle by a second positioning module to obtain local pose information; and planning a parking route according to the local pose information. The engineering vehicle provided by the invention utilizes global positioning and local positioning, meets the requirement of normal running of the engineering vehicle, supports parking of the engineering vehicle in a complex environment, and has high positioning precision and high navigation precision.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an engineering vehicle and a parking control method of the engineering vehicle.
Background
Currently, in the related art, a navigation system can achieve accurate navigation only under the condition of having a clear traffic marking, and an engineering vehicle, due to a severe use environment, usually has no clear parking line at a parking position, and needs to adopt an electronic fence manner to clear the parking position.
Therefore, the positioning accuracy is poor for the navigation of the engineering vehicle.
Disclosure of Invention
The present invention is directed to solving or improving at least one of the technical problems occurring in the related art.
To this end, the invention provides, in a first aspect, a work vehicle.
A second aspect of the invention provides a parking control method for a construction vehicle.
According to an embodiment of the first aspect of the invention, the invention provides an engineering vehicle, comprising: the first positioning module and the second positioning module; the navigation controller is electrically connected with the first positioning module and the second positioning module and is used for: after a starting instruction is received, a vehicle is positioned by a first positioning module to obtain global pose information; receiving a parking instruction, and searching a parking starting position according to the global pose information; after the parking starting position is determined, the first positioning module is switched to the second positioning module; positioning the vehicle by a second positioning module to obtain local pose information; and planning a parking route according to the local pose information.
The invention provides an engineering vehicle, comprising: the engineering vehicle navigation system comprises a first positioning module, a second positioning module and a navigation controller, wherein when the engineering vehicle starts navigation, the first positioning module is used for positioning the vehicle to obtain global pose information, then navigation is provided for the engineering vehicle on the basis of the global pose information to ensure the normal running of the vehicle, after a parking instruction is received, a parking starting position is firstly searched by using the global pose information, after the parking starting position is determined, the navigation can guide the engineering vehicle to run to the parking starting position, the first positioning module is switched to the second positioning module, the second positioning module is used for positioning the engineering vehicle to obtain local pose information of the current environment, then navigation is provided for the engineering vehicle on the basis of the local pose information, a parking route is planned according to the local pose information, namely, the global positioning and the local positioning are used, the normal running of the engineering vehicle is met, and the parking of the engineering vehicle in a complex environment is supported, and the positioning precision and the navigation precision are high.
According to the engineering vehicle of the technical scheme, the engineering vehicle can further have the following additional technical characteristics:
on the basis of the above technical solution, further, the first positioning module includes: a satellite positioning component and an inertial positioning component; the second positioning module includes: an inertial positioning component and a odometer; or the second positioning module comprises: a visual positioning assembly.
In this technical solution, the first positioning module includes: the satellite positioning component and the inertial positioning component are combined, so that global position and attitude information is provided for the engineering vehicle, navigation of the engineering vehicle is realized, and navigation precision is improved; the second positioning module includes: the inertial positioning component and the odometer are combined, so that local pose information is provided for the engineering vehicle, the vehicle can be positioned and navigated according to the actual condition of the current environment, and the navigation precision is improved; or the second positioning module comprises: the visual positioning assembly acquires the current environment information, and then a map can be established according to the current environment information, so that navigation is provided for the engineering vehicle according to the map of the current environment, and the navigation precision is improved.
Specifically, the first positioning module and the second positioning module may include the same inertial positioning component, and the navigation controller may be used to call the satellite positioning component and the inertial positioning component, or the inertial positioning component and the odometer, so as to form the first positioning module and the second positioning module.
On the basis of any one of the above technical solutions, further, the odometer is a four-wheel odometer.
In the technical scheme, the odometer adopts a four-wheel odometer, and because the length and the width of the engineering vehicle are large, the distance between the front wheel and the rear wheel is also long, so that the error of the engineering vehicle can be better corrected by positioning the four-wheel odometer.
On the basis of any one of the above technical solutions, further, the method further includes: and the first positioning module and the second positioning module are arranged on the damping assembly.
In this technical scheme, first orientation module and second orientation module set up on damper assembly, and then avoid first orientation module and second orientation module to rock too big and influence positioning accuracy to, avoid first orientation module and second orientation module's damage.
According to an embodiment of the second aspect of the invention, the invention provides a parking control method for an engineering vehicle, comprising the following steps: positioning the vehicle in a first positioning mode to obtain global pose information; receiving a parking instruction, and searching a parking starting position according to the global pose information; after determining a parking starting position, switching the first positioning mode to a second positioning mode; positioning the vehicle in a second positioning mode to obtain local pose information; and planning a parking route according to the local pose information.
The invention provides a parking control method of an engineering vehicle, which comprises a first positioning mode and a second positioning mode, wherein when the engineering vehicle starts navigation, the vehicle is positioned in the first positioning mode to obtain global pose information, and then the engineering vehicle is provided with navigation based on the global pose information to ensure the normal running of the vehicle, after a parking instruction is received, the global pose information is firstly used for searching a parking initial position, after the parking initial position is determined, the navigation can guide the engineering vehicle to run to the parking initial position, the first positioning mode is switched to the second positioning mode, the second positioning mode is used for positioning the engineering vehicle to obtain local pose information of the current environment, and then the navigation is provided for the engineering vehicle based on the local pose information, and a parking route is planned according to the local pose information, namely, the global positioning and the local positioning are used, the parking of the engineering vehicle in a complex environment is supported while the normal traveling of the engineering vehicle is met, and the positioning accuracy and the navigation accuracy are high.
On the basis of the technical scheme, further, the step of positioning the vehicle in the first positioning mode to obtain global pose information includes: and positioning the vehicle in a mode of combining the satellite positioning component and the inertial positioning component to obtain global pose information.
According to the technical scheme, the satellite positioning component is combined with the inertial positioning component to provide global position and attitude information for the engineering vehicle, so that navigation of the engineering vehicle is achieved, and navigation accuracy is improved.
On the basis of any one of the above technical solutions, further, before the step of locating the vehicle in the first locating mode to obtain the global pose information, the method further includes: the combined navigation results of the navigation based on the satellite positioning component and the inertial positioning component are integrated.
In the technical scheme, the navigation result of navigation based on the satellite positioning component and the inertial positioning component is integrated, so that the error caused by the fact that the satellite positioning component and the inertial positioning component are not located at the same position any more is avoided, and the positioning and navigation accuracy is improved.
On the basis of any one of the above technical solutions, further, the step of integrating the combined navigation result that performs navigation based on the satellite positioning component and the inertial positioning component specifically includes: calculating the lever arm coefficient according to the lever arm parameters of the inertial positioning component; and integrating the combined navigation result of the navigation based on the satellite positioning component and the inertial positioning component according to the lever arm coefficient.
In the technical scheme, the lever arm coefficient is obtained through calculation according to the lever arm parameters of the inertial positioning component, and then the combined navigation result of navigation is integrated by the lever arm coefficient on the basis of the satellite positioning component and the inertial positioning component, so that the positioning and navigation errors due to the distance of the lever arm are avoided, and the positioning and navigation accuracy is improved.
On the basis of any one of the above technical solutions, further, the step of locating the vehicle in a second locating mode to obtain local pose information specifically includes: positioning the vehicle in a mode of combining an inertial positioning component and an odometer component to obtain local pose information; or the visual positioning assembly is used for positioning the vehicle to obtain local pose information.
In the technical scheme, the inertial positioning component is combined with the odometer to provide local pose information for the engineering vehicle, so that the vehicle can be positioned and navigated according to the actual condition of the current environment, and the navigation precision is improved; or the current environment information is acquired by the visual positioning assembly, and then a map can be established according to the current environment information, so that navigation is provided for the engineering vehicle according to the map of the current environment, and the navigation precision is improved.
On the basis of any one of the above technical solutions, further, the step of positioning the vehicle by using the visual positioning assembly to obtain the local pose information specifically includes: and acquiring image information by using a visual sensor, and positioning the vehicle by using an instant positioning and map construction technology to obtain local pose information.
In the technical scheme, the inertial positioning component is combined with the odometer to provide local pose information for the engineering vehicle, so that the vehicle can be positioned and navigated according to the actual condition of the current environment, and the navigation precision is improved; or the current environment information is acquired by the visual positioning assembly, so that navigation is provided for the engineering vehicle according to the current environment information, and the navigation precision is improved.
On the basis of any one of the above technical solutions, further, the step of positioning the vehicle by using the visual positioning assembly to obtain the local pose information specifically includes: and acquiring image information by using a visual sensor, and positioning the vehicle by using an instant positioning and map construction technology to obtain local pose information.
According to the technical scheme, the visual sensor is used for obtaining image information, a map is built by using a map building technology, the position of the engineering vehicle on the map is determined by using instant positioning, and therefore navigation of parking is achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a satellite positioning assembly combined with an inertial positioning assembly for navigation in a construction vehicle according to an embodiment of the first aspect of the present invention;
fig. 2 is a flowchart illustrating a parking control method for a work vehicle according to an embodiment of a second aspect of the present invention;
fig. 3 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention;
fig. 4 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention;
fig. 5 is a flowchart showing a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention;
fig. 6 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention.
Wherein, the corresponding relation between the reference numbers and the part names in fig. 1 is:
110 satellite positioning components and 120 inertial positioning components.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
A construction vehicle and a parking control method of a construction vehicle according to some embodiments of the present invention are described below with reference to fig. 1 to 6.
Example 1:
according to an embodiment of a first aspect of the present invention, there is provided an engineering vehicle including: the first positioning module and the second positioning module; the navigation controller is electrically connected with the first positioning module and the second positioning module and is used for: after a starting instruction is received, a vehicle is positioned by a first positioning module to obtain global pose information; receiving a parking instruction, and searching a parking starting position according to the global pose information; after the parking starting position is determined, the first positioning module is switched to the second positioning module; positioning the vehicle by a second positioning module to obtain local pose information; and planning a parking route according to the local pose information.
The invention provides an engineering vehicle, comprising: the engineering vehicle navigation system comprises a first positioning module, a second positioning module and a navigation controller, wherein when the engineering vehicle starts navigation, the first positioning module is used for positioning the vehicle to obtain global pose information, then navigation is provided for the engineering vehicle on the basis of the global pose information to ensure the normal running of the vehicle, after a parking instruction is received, a parking starting position is firstly searched by using the global pose information, after the parking starting position is determined, the navigation can guide the engineering vehicle to run to the parking starting position, the first positioning module is switched to the second positioning module, the second positioning module is used for positioning the engineering vehicle to obtain local pose information of the current environment, then navigation is provided for the engineering vehicle on the basis of the local pose information, a parking route is planned according to the local pose information, namely, the global positioning and the local positioning are used, the normal running of the engineering vehicle is met, and the parking of the engineering vehicle in a complex environment is supported, and the positioning precision and the navigation precision are high.
Specifically, the parking starting position and the parking position can be searched by using the global pose information, after the parking starting position and the parking position are determined, navigation can guide the engineering vehicle to run to the parking starting position, the first positioning module is switched to the second positioning module, the second positioning module positions the engineering vehicle, local pose information of the current environment is obtained, navigation is provided for the engineering vehicle on the basis of the local pose information, a parking route is planned according to the local pose information, and the vehicle is guided to run to the parking position.
Example 2:
as shown in fig. 1, on the basis of embodiment 1, further, the first positioning module includes: satellite positioning component 110 and inertial positioning component 120; the second positioning module includes: an inertial positioning component 120 and a odometer; or the second positioning module comprises: a visual positioning assembly.
In this embodiment, the first positioning module includes: the satellite positioning component 110 and the inertial positioning component 120 are combined, namely the satellite positioning component 110 and the inertial positioning component 120 are combined to provide global pose information for the engineering vehicle, so that navigation of the engineering vehicle is realized, and navigation precision is improved; the second positioning module includes: the inertial positioning component 120 and the odometer are combined, namely the inertial positioning component 120 and the odometer are combined to provide local pose information for the engineering vehicle, so that the vehicle can be positioned and navigated according to the actual condition of the current environment, and the navigation precision is improved; or the second positioning module comprises: the visual positioning assembly acquires the current environment information, and then a map can be established according to the current environment information, so that navigation is provided for the engineering vehicle according to the map of the current environment, and the navigation precision is improved.
Specifically, the first positioning module and the second positioning module may include the same inertial positioning component 120, and the satellite positioning component 110 and the inertial positioning component 120, or the inertial positioning component 120 and the odometer are invoked by using the navigation controller, so as to form the first positioning module and the second positioning module.
The satellite navigation System may adopt a GPS System (Global Positioning System in the united states), a GLONASS System (Global Positioning System in russia), a beidou System (Global Positioning System in china), and a galileo System (Global Positioning System in the european union).
Example 3:
on the basis of embodiment 2, further, the odometer is a four-wheel odometer.
In the embodiment, the odometer adopts a four-wheel odometer, and because the length and the width of the engineering vehicle are both larger, the distance between the front wheel and the rear wheel is also longer, so that the error of the engineering vehicle can be better corrected by positioning with the four-wheel odometer.
Example 4:
on the basis of any one of embodiment 1 to embodiment 3, further, the method further includes: and the first positioning module and the second positioning module are arranged on the damping assembly.
In this embodiment, first locating module and second locating module set up on damper assembly, and then avoid first locating module and second locating module to rock too big and influence positioning accuracy.
Example 5:
fig. 2 shows a flowchart of a parking control method for a work vehicle according to an embodiment of the second aspect of the present invention.
As shown in fig. 2, the parking control method for the engineering vehicle provided by the present invention has the following specific processes:
step 202: positioning the vehicle in a first positioning mode to obtain global pose information;
step 204: receiving a parking instruction, and searching a parking starting position according to the global pose information;
step 206: after determining a parking starting position, switching the first positioning mode to a second positioning mode;
step 208: positioning the vehicle in a second positioning mode to obtain local pose information;
step 210: and planning a parking route according to the local pose information.
In this embodiment, the parking control method for an engineering vehicle provided by the present invention has a first positioning mode and a second positioning mode, when the engineering vehicle starts a navigation, the vehicle is positioned in the first positioning mode to obtain global pose information, and then the engineering vehicle is provided with a navigation based on the global pose information to ensure the normal traveling of the vehicle, and after receiving a parking instruction, the parking start position is first searched using the global pose information, after determining the parking start position, the navigation can guide the engineering vehicle to travel to the parking start position, and the first positioning mode is switched to the second positioning mode, and the second positioning mode is used to position the engineering vehicle to obtain local pose information of the current environment, and then the engineering vehicle is provided with a navigation based on the local pose information, and then a parking route is planned according to the local pose information, the method has the advantages that by means of global positioning and local positioning, normal traveling of the engineering vehicle is met, parking of the engineering vehicle in a complex environment is supported, and positioning accuracy and navigation accuracy are high.
Example 6:
fig. 3 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention.
As shown in fig. 3, the parking control method for the engineering vehicle provided by the present invention has the following specific flow:
step 302: positioning the vehicle in a mode of combining the satellite positioning component and the inertial positioning component to obtain global pose information;
step 304: receiving a parking instruction, and searching a parking starting position according to the global pose information;
step 306: after the parking starting position is determined, switching a mode of combining the satellite positioning assembly and the inertial positioning assembly to a mode of combining the inertial positioning assembly and the odometer assembly;
step 308: positioning the vehicle in a mode of combining an inertial positioning component and an odometer component to obtain local pose information;
step 310: and planning a parking route according to the local pose information.
On the basis of the embodiment 5, the satellite positioning component is combined with the inertial positioning component to provide global position and attitude information for the engineering vehicle, so that navigation of the engineering vehicle is realized, and navigation precision is improved; and moreover, the inertial positioning component is combined with the odometer to provide local pose information for the engineering vehicle, so that the vehicle can be positioned and navigated according to the actual condition of the current environment, the navigation precision is improved, and the positioning navigation mode of the inertial positioning component and the odometer is low in cost.
Example 7:
fig. 4 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention.
As shown in fig. 4, the parking control method for the engineering vehicle provided by the present invention has the following specific flow:
step 402: positioning the vehicle in a mode of combining a satellite positioning component and an inertial positioning component to obtain the global pose information;
step 404: receiving a parking instruction, and searching a parking starting position according to the global pose information;
step 406: after determining a parking starting position, switching a mode of combining a satellite positioning assembly and an inertial positioning assembly to a mode of a visual positioning assembly;
step 408: positioning the vehicle by using the visual positioning assembly to obtain local pose information;
step 410: and planning a parking route according to the local pose information.
On the basis of the embodiment 5, the satellite positioning component is combined with the inertial positioning component to provide global position and attitude information for the engineering vehicle, so that navigation of the engineering vehicle is realized, and navigation precision is improved; and the current environment information is acquired by the visual positioning assembly, and then a map can be established according to the current environment information, so that navigation is provided for the engineering vehicle according to the map of the current environment, and the navigation precision is improved.
Example 8:
on the basis of embodiment 7, further, a step of positioning the vehicle by using a visual positioning assembly to obtain local pose information specifically includes: and acquiring image information by using a visual sensor, and positioning the vehicle by using an instant positioning and map construction technology to obtain local pose information.
In the embodiment, the visual sensor is used for acquiring image information, a map is constructed by using a map construction technology, and the position of the engineering vehicle on the map is determined by using instant positioning, so that the navigation of parking is realized.
Specifically, the local composition and positioning technology based on the visual SLAM realizes the positioning of the engineering vehicle by utilizing visual sensors such as monocular and binocular cameras and by utilizing the instant positioning and map construction technology.
Example 9:
on the basis of any one of embodiment 6 to embodiment 8, further before the step of locating the vehicle in the first locating mode to obtain the global pose information, the method further includes: the combined navigation results of the navigation based on the satellite positioning component and the inertial positioning component are integrated.
In the embodiment, the navigation result of the navigation based on the satellite positioning component and the inertial positioning component is integrated, so that the error caused by the fact that the satellite positioning component and the inertial positioning component are not located at the same position any more is avoided, and the positioning and navigation accuracy is improved.
Example 10:
on the basis of embodiment 9, further, the step of integrating the combined navigation result that is navigated based on the satellite positioning component and the inertial positioning component specifically includes: calculating the lever arm coefficient according to the lever arm parameters of the inertial positioning component; and integrating the combined navigation result of the navigation based on the satellite positioning component and the inertial positioning component according to the lever arm coefficient.
In the embodiment, the lever arm coefficient is obtained through calculation according to the lever arm parameters of the inertial positioning component, and then the lever arm coefficient is integrated with the combined navigation result which is navigated based on the satellite positioning component and the inertial positioning component, so that the positioning and navigation errors due to the distance of the lever arm are avoided, and the positioning and navigation accuracy is improved.
Specifically, as shown in fig. 1, the origin of the navigation coordinate system of the engineering vehicle is O, the distance from the origin to the inertial navigation component is R, the distance from the origin to the satellite navigation component is R, and the lever arm of the inertial navigation component is l, so that the coordinate system of the inertial navigation component and the satellite navigation component is integrated to the origin O according to the operation.
Example 11:
fig. 5 is a flowchart illustrating a parking control method for another work vehicle according to an embodiment of the second aspect of the present invention.
As shown in fig. 5, the parking control method for the engineering vehicle provided by the present invention has the following specific flow:
step 502: starting the vehicle;
step 504: starting a first positioning mode by default;
step 506: outputting a result;
step 508: receiving a parking instruction;
step 510: determining an optimal start-stop point in a first positioning mode;
step 512: switching to a second positioning mode;
step 514: outputting a result;
step 516: and planning a parking route.
In this embodiment, in the parking control method for the engineering vehicle provided by the invention, when the vehicle starts, the navigation result is output based on the first positioning mode, the engineering vehicle is navigated, after the parking instruction is received, the optimal starting position and parking position are determined in the first positioning mode, then the second positioning mode is switched, and the navigation result is output based on the second positioning mode, and the parking route is planned.
Example 12:
fig. 6 is a flowchart illustrating a parking control method for another construction vehicle according to an embodiment of the second aspect of the present invention.
As shown in fig. 6, the parking control method for a construction vehicle according to the present invention includes the following steps:
step 602: calibrating in the early stage, and unifying a coordinate system and a coordinate origin;
specifically, the inertial navigation uses the geometric center of an inertial navigation unit (IMU) as a reference datum for navigation positioning or speed measurement, and the satellite navigation unit uses the phase center of a receiver antenna as a reference datum, so that when two navigation systems are used simultaneously in an actual vehicle, certain deviation of the installation positions of the two navigation systems can exist certainly. In order to compare and fuse navigation information of various navigation systems, the navigation information must be converted, i.e., coordinate system and coordinate origin are unified. As shown in fig. 1, the specific implementation is as follows:
1. fixedly connecting the satellite navigation component with the inertial navigation component, and fixedly connecting the odometer with the inertial navigation component, and performing damping treatment;
2. in a certain time, the satellite navigation component and the inertial navigation component respectively carry out pose calculation and calculate the result of the integrated navigation;
3. the parameters related to the lever arm of the inertial navigation component are brought into a system equation, and the lever arm is rotated through a special angle, so that the coefficient of the lever arm is calculated;
4. and adding the lever arm coefficient into an integral navigation system according to the calculated lever arm coefficient to perform a navigation task.
Step 604: starting a first positioning mode, and after the engineering machinery is started, starting the first positioning mode by default, namely a combined mode of a satellite and inertial navigation, and providing global pose information;
step 606: after receiving a parking instruction: in a first positioning mode, starting to search parking spaces and finding out an optimal parking starting point;
step 608: switching to a second positioning mode, after parking space searching is completed, pausing the vehicle, switching to the second positioning mode, namely a fusion mode of inertial navigation and a four-wheel odometer, and providing local position calculation;
step 610: and starting parking, planning a parking route under the support of the local pose, and completing a parking task.
Specifically, the engineering machine and the parking control method of the engineering machine mainly comprise a satellite navigation sensor, an inertial navigation sensor IMU, odometer information from a whole vehicle CAN bus and a computing platform. The first positioning mode is global positioning, and global positioning information is provided by fusing a satellite navigation sensor and an inertial navigation sensor. The second positioning mode is local positioning, and the information of the inertial navigation sensor and the milemeter are fused to calculate the relative position information during local parking and provide the relative position information to the planning and control module in real time.
Further, the odometer adopts four-wheel odometer information to resolve the pose.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A work vehicle, characterized by comprising:
the first positioning module and the second positioning module;
a navigation controller electrically connected to the first positioning module and the second positioning module, the navigation controller configured to:
after a starting instruction is received, a vehicle is positioned by a first positioning module to obtain global pose information;
receiving a parking instruction, and searching a parking starting position according to the global pose information;
after the parking starting position is determined, switching the first positioning module to a second positioning module;
the second positioning module is used for positioning the vehicle to obtain local pose information;
and planning a parking route according to the local pose information.
2. The work vehicle according to claim 1,
the first positioning module comprises: a satellite positioning assembly (110) and an inertial positioning assembly (120);
the second positioning module includes: the inertial positioning component (120) and an odometer; or
The second positioning module includes: a visual positioning assembly.
3. The work vehicle according to claim 2,
the odometer is a four-wheel odometer.
4. The work vehicle according to any one of claims 1 to 3, characterized by further comprising:
and the first positioning module and the second positioning module are arranged on the shock absorption assembly.
5. A parking control method for a construction vehicle, comprising:
positioning the vehicle in a first positioning mode to obtain global pose information;
receiving a parking instruction, and searching a parking starting position according to the global pose information;
after the parking starting position is determined, switching the first positioning mode to a second positioning mode;
positioning the vehicle in the second positioning mode to obtain local pose information;
and planning a parking route according to the local pose information.
6. The parking control method of a working vehicle according to claim 5,
the step of positioning the vehicle in the first positioning mode to obtain global pose information specifically comprises the following steps:
and positioning the vehicle in a mode of combining the satellite positioning component and the inertial positioning component to obtain the global pose information.
7. The parking control method of a working vehicle according to claim 6,
before the step of locating the vehicle in the first locating mode to obtain the global pose information, the method further comprises the following steps:
integrating a combined navigation result of the navigation based on the satellite positioning component and the inertial positioning component.
8. The parking control method of a working vehicle according to claim 7,
the step of integrating the combined navigation result navigated on the basis of the satellite positioning component and the inertial positioning component specifically comprises:
calculating lever arm coefficients according to the lever arm parameters of the inertial positioning component;
and according to the lever arm coefficient, integrating a combined navigation result for navigation based on the satellite positioning component and the inertial positioning component.
9. The parking control method of a working vehicle according to any one of claims 5 to 8,
the step of locating the vehicle in the second locating mode to obtain the local pose information specifically includes:
positioning the vehicle in a mode of combining an inertial positioning component and an odometer component to obtain the local pose information; or
And positioning the vehicle by using a visual positioning assembly to obtain the local pose information.
10. The parking control method of a working vehicle according to claim 9,
the step of positioning the vehicle by the visual positioning assembly to obtain local pose information specifically comprises:
and acquiring image information by using a visual sensor, and positioning the vehicle by using an instant positioning and map construction technology to obtain the local pose information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456386.2A CN111619553A (en) | 2020-05-26 | 2020-05-26 | Engineering vehicle and parking control method of engineering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010456386.2A CN111619553A (en) | 2020-05-26 | 2020-05-26 | Engineering vehicle and parking control method of engineering vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111619553A true CN111619553A (en) | 2020-09-04 |
Family
ID=72256204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010456386.2A Pending CN111619553A (en) | 2020-05-26 | 2020-05-26 | Engineering vehicle and parking control method of engineering vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111619553A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034933A (en) * | 2021-03-05 | 2021-06-25 | 深圳市新天能科技开发有限公司 | Method and system for accurately stopping automobile |
| CN113665566A (en) * | 2021-09-13 | 2021-11-19 | 广州小鹏自动驾驶科技有限公司 | Automatic parking processing method and device and vehicle |
| CN116052468A (en) * | 2023-03-29 | 2023-05-02 | 禾多科技（北京）有限公司 | Method and device for determining position information, storage medium and electronic device |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104658055A (en) * | 2013-11-25 | 2015-05-27 | 陈素洁 | Freight GPS positioning and recording all-in-one machine |
| DE102016220448A1 (en) * | 2016-10-19 | 2018-04-19 | Ford Global Technologies, Llc | Device for supporting a maneuvering process of a motor vehicle |
| CN207814316U (en) * | 2018-01-11 | 2018-09-04 | 无锡凌思科技有限公司 | A kind of omnidirectional's shock-damping structure of suspension type MEMS inertial navigation products |
| CN207991554U (en) * | 2018-04-10 | 2018-10-19 | 河南理工大学 | Damping navigation terminal based on global position system |
| CN108806308A (en) * | 2018-04-29 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall recognition methods and method of parking |
| CN108873038A (en) * | 2018-09-10 | 2018-11-23 | 芜湖盟博科技有限公司 | Autonomous parking localization method and positioning system |
| CN108961811A (en) * | 2017-05-25 | 2018-12-07 | 纵目科技（上海）股份有限公司 | Parking lot vehicle positioning method, system, mobile terminal and storage medium |
| CN109131317A (en) * | 2018-07-23 | 2019-01-04 | 同济大学 | Automatic vertical parking system and method based on multisection type planning and machine learning |
| CN109945858A (en) * | 2019-03-20 | 2019-06-28 | 浙江零跑科技有限公司 | It parks the multi-sensor fusion localization method of Driving Scene for low speed |
| CN110155043A (en) * | 2019-05-09 | 2019-08-23 | 禾多科技（北京）有限公司 | Automatic parking two-dimensional location method |
| CN110304049A (en) * | 2019-06-24 | 2019-10-08 | 浙江大学 | Environment actively perceive type parking lot automated parking system |
| CN110426049A (en) * | 2019-08-12 | 2019-11-08 | 广州百士臣科技有限公司 | A kind of damping type vehicle-mounted GPS navigator of good heat dissipation effect |
| CN110554685A (en) * | 2019-09-10 | 2019-12-10 | 百度在线网络技术（北京）有限公司 | test method, device, equipment and storage medium for planning control system |
| CN110667484A (en) * | 2019-09-29 | 2020-01-10 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Vehicle-mounted inertial navigation equipment and photoelectric measurement equipment integrated device |
| CN110793516A (en) * | 2019-10-22 | 2020-02-14 | 东方久乐汽车电子（上海）股份有限公司 | Combined navigation device, algorithm and method based on vehicle motion model |
-
2020
- 2020-05-26 CN CN202010456386.2A patent/CN111619553A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104658055A (en) * | 2013-11-25 | 2015-05-27 | 陈素洁 | Freight GPS positioning and recording all-in-one machine |
| DE102016220448A1 (en) * | 2016-10-19 | 2018-04-19 | Ford Global Technologies, Llc | Device for supporting a maneuvering process of a motor vehicle |
| CN108961811A (en) * | 2017-05-25 | 2018-12-07 | 纵目科技（上海）股份有限公司 | Parking lot vehicle positioning method, system, mobile terminal and storage medium |
| CN207814316U (en) * | 2018-01-11 | 2018-09-04 | 无锡凌思科技有限公司 | A kind of omnidirectional's shock-damping structure of suspension type MEMS inertial navigation products |
| CN207991554U (en) * | 2018-04-10 | 2018-10-19 | 河南理工大学 | Damping navigation terminal based on global position system |
| CN108806308A (en) * | 2018-04-29 | 2018-11-13 | 惠州市德赛西威汽车电子股份有限公司 | A kind of parking stall recognition methods and method of parking |
| CN109131317A (en) * | 2018-07-23 | 2019-01-04 | 同济大学 | Automatic vertical parking system and method based on multisection type planning and machine learning |
| CN108873038A (en) * | 2018-09-10 | 2018-11-23 | 芜湖盟博科技有限公司 | Autonomous parking localization method and positioning system |
| CN109945858A (en) * | 2019-03-20 | 2019-06-28 | 浙江零跑科技有限公司 | It parks the multi-sensor fusion localization method of Driving Scene for low speed |
| CN110155043A (en) * | 2019-05-09 | 2019-08-23 | 禾多科技（北京）有限公司 | Automatic parking two-dimensional location method |
| CN110304049A (en) * | 2019-06-24 | 2019-10-08 | 浙江大学 | Environment actively perceive type parking lot automated parking system |
| CN110426049A (en) * | 2019-08-12 | 2019-11-08 | 广州百士臣科技有限公司 | A kind of damping type vehicle-mounted GPS navigator of good heat dissipation effect |
| CN110554685A (en) * | 2019-09-10 | 2019-12-10 | 百度在线网络技术（北京）有限公司 | test method, device, equipment and storage medium for planning control system |
| CN110667484A (en) * | 2019-09-29 | 2020-01-10 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Vehicle-mounted inertial navigation equipment and photoelectric measurement equipment integrated device |
| CN110793516A (en) * | 2019-10-22 | 2020-02-14 | 东方久乐汽车电子（上海）股份有限公司 | Combined navigation device, algorithm and method based on vehicle motion model |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034933A (en) * | 2021-03-05 | 2021-06-25 | 深圳市新天能科技开发有限公司 | Method and system for accurately stopping automobile |
| CN113665566A (en) * | 2021-09-13 | 2021-11-19 | 广州小鹏自动驾驶科技有限公司 | Automatic parking processing method and device and vehicle |
| CN116052468A (en) * | 2023-03-29 | 2023-05-02 | 禾多科技（北京）有限公司 | Method and device for determining position information, storage medium and electronic device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111619553A (en) | Engineering vehicle and parking control method of engineering vehicle | |
| CN1322311C (en) | vehicle-carrying quick positioning and orienting method | |
| CN107132563B (en) | Combined navigation method combining odometer and dual-antenna differential GNSS | |
| KR20220033477A (en) | Appratus and method for estimating the position of an automated valet parking system | |
| CN107765279B (en) | Vehicle-mounted positioning and directional aiming system and method integrating inertia and satellite | |
| CN111637888B (en) | Tunneling machine positioning method and system based on inertial navigation and laser radar single-point distance measurement | |
| CN112964260A (en) | Automatic driving positioning method, device, equipment and storage medium | |
| US11280917B2 (en) | Information processing system, storage medium storing information processing program, and control method | |
| CN110006421B (en) | Vehicle-mounted navigation method and system based on MEMS and GPS | |
| CN113405545A (en) | Positioning method, positioning device, electronic equipment and computer storage medium | |
| CN111536972A (en) | Vehicle-mounted DR navigation method based on odometer scale factor correction | |
| JP4828504B2 (en) | Mobile station travel trajectory measuring device by single GPS positioning with initial position correction function | |
| CN111221020A (en) | Indoor and outdoor positioning method, device and system | |
| CN115727843A (en) | Wheel speed determination method, device and equipment for dead reckoning | |
| CN109683183B (en) | Auxiliary correction method and system for public transportation system mark points | |
| CN113670334B (en) | Initial alignment method and device for aerocar | |
| JP2008256620A (en) | Map data correction device, method, and program | |
| CN109059913A (en) | A kind of zero-lag integrated navigation initial method for onboard navigation system | |
| US20110295503A1 (en) | Method of Determining the Own-Vehicle Position of a Motor Vehicle | |
| JP4848931B2 (en) | Signal correction device for angular velocity sensor | |
| US7428461B2 (en) | Walker navigation device, walker navigation method, and program | |
| CN114397480B (en) | Acoustic Doppler velocimeter error estimation method, device and system | |
| JP2009014555A (en) | Navigation device, navigation method, and navigation program | |
| CN110398243A (en) | A kind of vehicle positioning method and device | |
| CN114264301A (en) | Vehicle-mounted multi-sensor fusion positioning method and device, chip and terminal |
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 |