CN114435349A - Automatic parking positioning method based on wheel speed pulse interpolation smoothing - Google Patents

Automatic parking positioning method based on wheel speed pulse interpolation smoothing Download PDF

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CN114435349A
CN114435349A CN202210190978.3A CN202210190978A CN114435349A CN 114435349 A CN114435349 A CN 114435349A CN 202210190978 A CN202210190978 A CN 202210190978A CN 114435349 A CN114435349 A CN 114435349A
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pulse
wheel speed
imu
vehicle
yaw
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秦明玉
于宏啸
夏天
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Hangzhou Liuma Ruichi Technology Co ltd
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Hangzhou Liuma Ruichi Technology Co ltd
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    • 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
    • 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
    • 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
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
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Abstract

The invention belongs to the technical field of automatic driving, and particularly relates to a real-time positioning method of an automatic driving parking system. An automatic parking positioning method based on wheel speed pulse interpolation smoothing comprises the following steps: s1, acquiring vehicle body speed, pulse rotating speed and IMU sensor yaw angular speed signals; s2, calculating an IMU zero drift value; s3, monitoring whether the wheel speed sensor completes the first pulse updating in real time, and sampling data of the wheel speed sensor based on a sliding window algorithm; after pulse updating, entering S4. a sliding window of a pulse wheel speed sensor is averaged; s5, calculating IMU yaw velocity based on zero drift compensation; s6, updating the yaw velocity based on a selection mechanism; s7, dead reckoning based on the yaw angular velocity; according to the method, the real-time pose of the vehicle is obtained by dead reckoning through interpolation smoothing of the wheel speed pulse and filtering of the output value, and jitter generated by direct calculation is avoided. Meanwhile, the real-time pose of the vehicle is more accurate by combining the yaw velocity value output by the IMU after null shift processing.

Description

Automatic parking positioning method based on wheel speed pulse interpolation smoothing
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a real-time positioning method of an automatic driving parking system.
Background
Automatic parking systems are increasingly being spotlighted by research institutes and automobile manufacturers as an important component of automatic driving. Compared with the normal road driving condition, the parking condition has the characteristics of complex scenes around parking, large change of the vehicle running posture and low vehicle running speed. None of these scenario features presents a significant challenge to the real-time accurate positioning of vehicles. The existing automatic parking system positioning methods include the following two methods:
one is a dead reckoning method based on an ultrasonic sensor and a wheel speed sensor. The method comprises the steps of determining a parking space and a parking space coordinate system by utilizing an ultrasonic sensor, and positioning an initial pose of a vehicle in the parking space coordinate system and a vehicle pose in a parking process by utilizing data of a wheel speed sensor and adopting a dead reckoning algorithm. Due to the limitation of the number of teeth of the conventional wheel speed sensor, the updating of the wheel speed pulse signal is not smooth enough, so that the accuracy of the wheel speed calculation method which only depends on the wheel speed sensor is low, and the estimated and obtained vehicle course and pose are seriously jittered in practical application. In addition, due to the characteristic of multiple turning of the vehicle under the parking working condition and the low vehicle speed, pain points with insufficient tooth numbers of the wheel speed sensors are further amplified, and therefore the method is difficult to meet the requirement of track calculation accuracy under the scene.
The other method is a vehicle pose calculation method based on iterative calculation of four wheel speed pulses of a vehicle and IMU inertial navigation data. The method comprises the steps of calculating a vehicle course positioning value at a first parking moment, calculating a system matrix of the vehicle course positioning value at a second parking moment by combining vehicle motion information, and measuring the matrix and an observed quantity; respectively carrying out filtering estimation on the vehicle heading positioning values at the second moment of parking through a linear Kalman filtering algorithm to obtain vehicle heading positioning values; and carrying out subtraction operation on the vehicle course angle of the vehicle course positioning value at the second time of parking and the calculated zero drift error value of the vehicle at the second time of parking so as to obtain the determined vehicle course positioning value at the second time of parking. The method does not process the wheel speed pulse, but directly uses the wheel speed pulse of four wheels and the output data of the IMU to directly calculate the real-time pose of the vehicle in an iterative way. This will cause the vehicle position and attitude of dead reckoning to generate calculation error, and at the same time, the accumulated error of integral calculation will seriously affect the real-time positioning of the vehicle.
Disclosure of Invention
The purpose of the invention is: aiming at the defects of the existing automatic parking positioning method, the automatic parking positioning method based on the wheel speed pulse interpolation smoothing is provided.
The technical scheme of the invention is as follows: an automatic parking positioning method based on wheel speed pulse interpolation smoothing comprises the following steps:
s1, acquiring a pulse rotating speed signal omega of a left rear wheel of a vehicleL(i) And a right rear wheel pulse rotating speed signal omegaR(i) A vehicle body speed signal v (i), an IMU sensor yaw rate signal ωIMU(i) (ii) a Wherein, i is the frame number of signal acquisition;
s2, initializing and calculating a zero drift value of the yaw velocity of the IMU sensor:
Figure BDA0003521275180000021
b is the initialization time sequence length of the IMU sensor yaw angular velocity, and the vehicle speed v (i) is 0 at the moment;
s3, monitoring whether the wheel speed sensor completes the first pulse updating in real time, and sampling data of the wheel speed sensor based on a sliding window algorithm:
Figure BDA0003521275180000022
Figure BDA0003521275180000023
Figure BDA0003521275180000024
wherein omegaRAnd ΩLRespectively sampling data of a sliding window of a right-side and a left-side pulse wheel speed sensor, wherein V is sampling data of a vehicle body speed sliding window, and w is the width of the sliding window; entering S4 after the wheel speed sensor completes the first pulse update;
s4, according to the vehicle body speed signal collected by the sliding window mechanism, the pulse rotating speed signal is processed by interpolation and smoothing,
Figure BDA0003521275180000025
Figure BDA0003521275180000026
s5, compensating the yaw angular velocity of the IMU sensor in real time based on the zero drift value to obtain a vehicle yaw angular velocity estimated value based on the IMU
Figure BDA0003521275180000027
Figure BDA0003521275180000028
S6, observing the pulse rotating speed signal states of the left rear wheel and the right rear wheel, selecting and updating the estimated value of the yaw angular speed, finally determining a real-time vehicle body yaw angular speed value theta' (i),
Figure BDA0003521275180000031
wherein L is a rear axle track;
and S7, carrying out track estimation based on the yaw angular velocity theta' (i).
Has the advantages that: according to the method, the real-time pose of the vehicle is obtained by dead reckoning through interpolation smoothing of the wheel speed pulse and filtering of the output value, and jitter generated by direct calculation is avoided. Meanwhile, the real-time pose of the vehicle is more accurate by combining the yaw velocity value output by the IMU after null shift processing.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
Embodiment 1, referring to fig. 1, an automatic parking positioning method based on wheel speed pulse interpolation smoothing includes the following steps:
s1, acquiring a pulse rotating speed signal omega of a left rear wheel of a vehicleL(i) And a right rear wheel pulse rotating speed signal omegaR(i) A vehicle body speed signal v (i), an IMU sensor yaw rate signal ωIMU(i) (ii) a Wherein, i is the frame number of signal acquisition;
s2, initializing and calculating a zero drift value of the yaw velocity of the IMU sensor:
Figure BDA0003521275180000032
b is the initialization time sequence length of the IMU sensor yaw angular velocity, and the vehicle speed v (i) is 0 at the moment; in this example, the length b of the initialization sequence of the IMU sensor yaw rate is 100 frames; when the vehicle speed is 0, taking 100 frames of input IMU yaw velocity, calculating and taking an average value as a null shift value during the test;
s3, monitoring whether the wheel speed sensor completes the first pulse updating in real time, and sampling data of the wheel speed sensor based on a sliding window algorithm:
Figure BDA0003521275180000033
Figure BDA0003521275180000034
Figure BDA0003521275180000035
wherein omegaRAnd ΩLRespectively sampling data of a sliding window of a right-side and a left-side pulse wheel speed sensor, wherein V is sampling data of a vehicle body speed sliding window, and w is the width of the sliding window; in this example, the width w of the sliding window is 20 frames, the first 20 frames of data use the initial value, and the sliding window mode is adopted to update the value after 20 frames; when the wheel speed sensor finishes the first pulse updating, the method entersS4；
S4, according to the vehicle body speed signal collected by the sliding window mechanism, the pulse rotating speed signal is processed by interpolation and smoothing,
Figure BDA0003521275180000041
Figure BDA0003521275180000042
s5, compensating the yaw angular velocity of the IMU sensor in real time based on the zero drift value to obtain a vehicle yaw angular velocity estimated value based on the IMU
Figure BDA0003521275180000043
Figure BDA0003521275180000044
S6, observing the pulse rotating speed signal states of the left rear wheel and the right rear wheel, selecting and updating the estimated value of the yaw angular speed, finally determining a real-time vehicle body yaw angular speed value theta' (i),
Figure BDA0003521275180000045
wherein L is a rear axle track;
s7, carrying out track estimation based on the yaw angular velocity theta' (i):
Figure BDA0003521275180000046
Figure BDA0003521275180000047
wherein x '(i), y' (i) are respectively the updated values of the current real-time horizontal and vertical coordinates of the vehicle, r is the rolling radius of the wheel, and theta is the vehicle body yaw angle.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (4)

1. An automatic parking positioning method based on wheel speed pulse interpolation smoothing is characterized by comprising the following steps:
s1, acquiring a pulse rotating speed signal omega of a left rear wheel of a vehicleL(i) And a right rear wheel pulse rotating speed signal omegaR(i) A vehicle body speed signal v (i), an IMU sensor yaw rate signal ωIMU(i) (ii) a Wherein, i is the frame number of signal acquisition;
s2, initializing and calculating a zero drift value of the yaw velocity of the IMU sensor:
Figure FDA0003521275170000011
b is the initialization time sequence length of the IMU sensor yaw angular velocity, and the vehicle speed v (i) is 0 at the moment;
s3, monitoring whether the wheel speed sensor completes the first pulse updating in real time, and sampling data of the wheel speed sensor based on a sliding window algorithm:
Figure FDA0003521275170000012
Figure FDA0003521275170000013
Figure FDA0003521275170000014
wherein omegaRAnd ΩLRespectively sampling data of a sliding window of a right-side and a left-side pulse wheel speed sensor, wherein V is sampling data of a vehicle body speed sliding window, and w is the width of the sliding window; entering S4 after the wheel speed sensor completes the first pulse update;
s4, according to the vehicle body speed signal collected by the sliding window mechanism, the pulse rotating speed signal is processed by interpolation and smoothing,
Figure FDA0003521275170000015
Figure FDA0003521275170000016
s5, compensating the yaw angular velocity of the IMU sensor in real time based on the zero drift value to obtain a vehicle yaw angular velocity estimated value based on the IMU
Figure FDA0003521275170000017
Figure FDA0003521275170000018
S6, observing the pulse rotating speed signal states of the left rear wheel and the right rear wheel, selecting and updating the estimated value of the yaw angular speed, finally determining a real-time vehicle body yaw angular speed value theta' (i),
Figure FDA0003521275170000021
wherein L is a rear axle track;
and S7, carrying out track estimation based on the yaw angular velocity theta' (i).
2. The automatic parking locating method based on wheel speed pulse interpolation smoothing as claimed in claim 1, wherein in S2, the IMU sensor yaw rate initialization timing length b is 100 frames.
3. The method as claimed in claim 1, wherein in S3, the window width w is 20 frames.
4. The automatic parking locating method based on wheel speed pulse interpolation smoothing as claimed in claim 1,
in S7, the method for dead reckoning includes:
Figure FDA0003521275170000022
Figure FDA0003521275170000023
wherein x '(i), y' (i) are respectively the updated values of the current real-time horizontal and vertical coordinates of the vehicle, r is the rolling radius of the wheel, and theta is the vehicle body yaw angle.
CN202210190978.3A 2022-02-25 2022-02-25 Automatic parking positioning method based on wheel speed pulse interpolation smoothing Pending CN114435349A (en)

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Application Number Priority Date Filing Date Title
CN202210190978.3A CN114435349A (en) 2022-02-25 2022-02-25 Automatic parking positioning method based on wheel speed pulse interpolation smoothing

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