CN114777784A - Vehicle positioning method and device, computer equipment and storage medium - Google Patents

Vehicle positioning method and device, computer equipment and storage medium Download PDF

Info

Publication number
CN114777784A
CN114777784A CN202210373150.1A CN202210373150A CN114777784A CN 114777784 A CN114777784 A CN 114777784A CN 202210373150 A CN202210373150 A CN 202210373150A CN 114777784 A CN114777784 A CN 114777784A
Authority
CN
China
Prior art keywords
wheel
vehicle
speed
speed ratio
time period
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
Application number
CN202210373150.1A
Other languages
Chinese (zh)
Inventor
王阳
郝值
刘新宇
赵子健
张宇轩
曲逸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Jiefang Automotive Co Ltd
Original Assignee
FAW Jiefang Automotive Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by FAW Jiefang Automotive Co Ltd filed Critical FAW Jiefang Automotive Co Ltd
Priority to CN202210373150.1A priority Critical patent/CN114777784A/en
Publication of CN114777784A publication Critical patent/CN114777784A/en
Pending legal-status Critical Current

Links

Images

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
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The present application relates to a vehicle positioning method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor; determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel; and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement. The method can improve the positioning accuracy of the vehicle.

Description

Vehicle positioning method, device, computer equipment and storage medium
Technical Field
The present application relates to the field of automatic vehicle driving technology, and in particular, to a vehicle positioning method, apparatus, computer device, and storage medium.
Background
With the development of automatic driving technology, vehicle positioning technology in automatic driving technology is also continuously improved. The accuracy of the positioning of the autonomous flatbed or by-wire vehicle is particularly important in order to guarantee the safety of the autonomous flatbed or by-wire vehicle for port operations. In the related art, the autonomous driving flatbed or the drive-by-wire vehicle uses the GPS signal for positioning, however, when the GPS signal is blocked by an object in the surrounding environment, the autonomous driving flatbed or the drive-by-wire vehicle may not receive the GPS signal, so that the autonomous driving flatbed or the drive-by-wire vehicle cannot be accurately positioned.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle positioning method, apparatus, computer device, computer readable storage medium and computer program product for solving the above technical problems.
In a first aspect, the present application provides a vehicle localization method. The method comprises the following steps:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end point moment of the preset time period according to the displacement.
In one embodiment, the pulse signal comprises an A-phase pulse signal and a B-phase pulse signal; correspondingly, the wheel speed of each wheel is determined according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel, and the method comprises the following steps:
determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
and if the phase difference signal is a pulse signal with 0.25 period, determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
In one embodiment, determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the a-phase pulse signal of each wheel comprises:
Figure BDA0003589587130000021
in the formula (1), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
In one embodiment, calculating the displacement of the vehicle generated in the preset time period comprises:
acquiring a steering signal generated by a vehicle within a preset time period;
judging whether the vehicle has steering operation or not according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
and if the steering operation is carried out, calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period.
In one embodiment, calculating a first longitudinal displacement of the vehicle over a preset time period comprises:
determining a starting time corresponding to a preset time period;
calculating a first longitudinal displacement of the vehicle within a preset time period according to the wheel rotation speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000022
in the formula (2), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
In one embodiment, calculating the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period comprises:
determining a starting moment corresponding to a preset time period and an average wheel rotation angle;
calculating a second longitudinal displacement of the vehicle within a preset time period according to the wheel rotation speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000031
in the formula (3), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated which is,
Figure BDA0003589587130000033
indicating the average turning angle of the wheels;
calculating the lateral displacement of the vehicle within a preset time period according to the wheel rotating speed, the starting time and the end time of each wheel, wherein the calculation comprises
Figure BDA0003589587130000032
In the formula (4), ScyIndicating a lateral displacement.
In a second aspect, the present application further provides a vehicle positioning device. The device comprises:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
the determining module is used for determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and the calculation module is used for calculating the displacement of the vehicle in the preset time period and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end point moment of the preset time period according to the displacement.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.
The vehicle positioning method, the vehicle positioning device, the computer equipment, the storage medium and the computer program product acquire the resolution of a wheel speed encoder of each wheel of the vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor within a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor; determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel; and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement. When the GPS signal can not be received, the method can be used for assisting in positioning the vehicle, and the safety and reliability of the vehicle in port operation are improved. In addition, the method can also be used for correcting the precision of the real-time position, and the precision of vehicle positioning is improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle localization method in one embodiment;
FIG. 2 is a schematic diagram of a pulse signal in one embodiment;
FIG. 3 is a block diagram of a vehicle localization apparatus according to an embodiment;
FIG. 4 is a block diagram of another embodiment of a vehicle localization apparatus;
FIG. 5 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various terms, but these terms are not limited by these terms unless otherwise specified. These terms are only used to distinguish one term from another. For example, the third preset threshold and the fourth preset threshold may be the same or different without departing from the scope of the present application. In addition, the numbers of "a plurality" and the like mentioned in the embodiments of the present application each refer to a number of "at least two", for example, "a plurality" means "at least two".
In one embodiment, as shown in fig. 1, a vehicle positioning method is provided, and this embodiment is illustrated by applying the method to a terminal, and it is to be understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes the steps of:
101. the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
102. determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
103. and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end point moment of the preset time period according to the displacement.
In the above step 101, the wheel speed encoder is constituted by a side gear, a wheel speed sensor engagement gear, a wheel speed sensor coupling, and a wheel speed sensor. Before calculating the wheel speed of each wheel, various parameters of the wheel speed sensor of each vehicle are determined. The parameters of the wheel speed encoder comprise the resolution of the wheel speed encoder, a first speed ratio and a second speed ratio.
The method for determining the first speed ratio and the second speed ratio comprises the steps of determining the torque T which can be borne by the wheel speed sensor according to the torque TsensorTorque T of the side gearAxleWheel speed cwheelAnd wheel speed n of the side gearAxleAnd the wheel speed sensor actual value nsensorDetermining a first speed ratio i0At a second speed ratio i1As shown in equation (5):
Figure BDA0003589587130000061
in practical applications, the wheel speed sensor coupling exists as a connecting shaft between the meshing gear of the wheel speed sensor and the wheel speed sensor, and therefore, the speed ratio of the wheel speed sensor coupling can be 1. Of course, the speed ratio of the wheel speed sensor coupling may be other than 1.
Typically, the wheel speed encoder resolutions, the first speed ratios, and the second speed ratios of the four wheels of the same vehicle are all the same. Of course, the wheel speed encoder resolution, the first speed ratio, and the second speed ratio of each wheel may be different, and are determined according to actual conditions.
Specifically, when the controller of the vehicle does not receive the GPS signal within the preset time period, the controller of the vehicle may calculate an average wheel rotation speed of each wheel of the vehicle within the preset time period by acquiring a wheel speed encoder resolution, a first speed ratio, a second speed ratio, a wheel rolling radius of each wheel of the vehicle, and a pulse signal detected by a wheel speed sensor within the preset time period. And then, according to the average wheel rotating speed of the four wheels in a preset time period and the preset time period, the horizontal displacement distance and the vertical displacement distance of the vehicle can be calculated. In addition, the controller needs to acquire the position of the vehicle at the starting point time corresponding to the preset time period, and finally, the position of the vehicle at the ending point time corresponding to the preset time period can be calculated according to the position of the starting point time corresponding to the preset time period, the horizontal displacement distance and the vertical displacement distance. When the controller can acquire the GPS signal within the preset time period, the position of the vehicle at the end moment corresponding to the preset time period is acquired by the GPS signal.
The controller may be a main controller of the vehicle, or may be another controller controlled by the main controller of the vehicle.
In addition, when the controller needs to correct the real-time position of the vehicle, the correction can be performed by the method provided by the embodiment. For example, the controller may obtain the current position of the vehicle as the first position by using a GPS signal, and the controller may obtain the position of the end point time calculated in the above embodiment as the second position, and then, the controller may determine a difference between the first position and the second position, and if the difference is greater than a preset difference, the controller may correct the first position.
The method provided by the real-time example of the invention can assist in positioning the vehicle by determining the wheel rotating speed of each wheel and calculating the displacement of the vehicle generated in the preset time period, thereby improving the safety and reliability of the vehicle in port operation. In addition, the method can also be used for correcting the precision of the real-time position of the vehicle, and the precision of vehicle positioning is improved.
In combination with the above embodiments, in one embodiment, the pulse signal includes an a-phase pulse signal and a B-phase pulse signal; accordingly, determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel comprises:
201. determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
202. and if the phase difference signal is a pulse signal with 0.25 period, determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
Specifically, the wheel speed sensor outputs pulse signals of three channels, as shown in fig. 2, which are an a-phase pulse signal, a B-phase pulse signal, and a Z-phase pulse signal, respectively. The a-phase pulse signal and the B-phase pulse signal are generally a pair of orthogonal pulse signals, and when the main shaft of the wheel speed encoder rotates clockwise, the a-phase pulse signal is located before the B-phase pulse signal, and when the main shaft of the wheel speed encoder rotates counterclockwise, the a-phase pulse signal is located after the B-phase pulse signal. In addition, the wheel speed encoder sends out a pulse signal every time the wheel speed encoder rotates, and the pulse signal is a Z-phase pulse signal.
When the controller successfully verifies the pulse signals, the average wheel rotating speed of each wheel is calculated according to the A-phase pulse signals in the pulse signals, the wheel speed encoder resolution, the first speed ratio, the second speed ratio and the wheel rolling radius of each wheel.
According to the method provided by the embodiment of the invention, the accuracy of the wheel rotating speed obtained by calculating the A-phase pulse signal can be improved by checking the A-phase pulse signal, so that the accuracy of the displacement obtained by calculating the wheel rotating speed can be improved.
In combination with the above description of the embodiments, in one embodiment, determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius, and the a-phase pulse signal of each wheel includes:
Figure BDA0003589587130000081
in the formula (6), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
Specifically, since the wheel speed encoder cannot directly measure the rotation speed of the wheel speed sensor coupling, it is necessary to calculate the rotation speed of the wheel speed sensor coupling through the a-phase pulse signal detected by the wheel speed sensor within a preset time period and the resolution of the wheel speed encoder, and finally determine the wheel rotation speeds of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle according to the rotation speed of the wheel speed sensor coupling, the first speed ratio and the second speed ratio of each wheel, and the rolling radius of the wheel. .
The resolution of the wheel speed encoder is generally 1-10000, and the commonly used resolution is 1024, that is, when the wheel speed encoder has 1024A phase pulse signals, the wheel of the vehicle rotates one circle. The frequency acquisition port of the controller can effectively identify the encoding frequency of the wheel speed encoder, namely the pulse signal acquired within 1 s.
According to the method provided by the embodiment of the invention, the wheel speed of each wheel can be determined through the wheel speed encoder resolution of each wheel, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal.
In combination with the contents of the foregoing embodiments, in one embodiment, calculating a displacement generated by a vehicle within a preset time period includes:
301. acquiring a steering signal generated by a vehicle within a preset time period;
302. judging whether the vehicle has steering operation or not according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
303. and if the steering operation is carried out, calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period.
In step 301, the steering signal may reflect whether the vehicle has a steering operation.
In step 302 above, the first longitudinal displacement is referred to as the vehicle distance traveled.
In step 303 above, the second longitudinal displacement refers to a vertical component of the vehicle distance traveled and the lateral displacement refers to a horizontal component of the vehicle distance traveled.
Specifically, if the controller does not acquire the steering signal within the preset time period, and the vehicle does not perform steering operation, only the first longitudinal displacement needs to be calculated, and the position of the vehicle at the end point time corresponding to the preset time period is calculated according to the first longitudinal displacement and the position of the vehicle at the start point time corresponding to the preset time period. For example, the first longitudinal displacement is ScThe position of the vehicle at the starting point corresponding to the preset time period is (X)L,YL) If the vehicle is at the end time corresponding to the preset time period, the position of the vehicle is (X)L+Sc，YL)。
If the controller acquires the steering signal and the vehicle performs steering operation, the second longitudinal displacement and the transverse displacement need to be calculated, and the position of the vehicle at the end time corresponding to the preset time period is calculated according to the second longitudinal displacement, the transverse displacement and the position of the vehicle at the start time corresponding to the preset time period. For example, the second longitudinal displacement is ScxTransverse displacement of ScyThe position of the vehicle at the starting point corresponding to the preset time period is (X)L,YL) If the vehicle is at the end time corresponding to the preset time period, the position of the vehicle is (X)L+Scx，YL+Scy)。
According to the method provided by the embodiment of the invention, whether the vehicle is subjected to steering operation within the preset time period can be judged through the steering signal within the preset time period, so that the displacement calculation modes can be classified, and the operation efficiency of the controller is further improved.
In combination with the above description of the embodiments, in one embodiment, calculating a first longitudinal displacement of the vehicle within a preset time period includes:
401. determining a starting time corresponding to a preset time period;
402. according to the wheel rotating speed, the starting time and the ending time of each wheel, calculating a first longitudinal displacement of the vehicle in a preset time period, wherein the method comprises the following steps:
Figure BDA0003589587130000101
in the formula (7), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
Specifically, after determining the starting time and the end time corresponding to the preset time period, the controller may calculate a first longitudinal displacement of the vehicle within the preset time period according to the wheel rotation speeds of the four wheels, and determine a position of the vehicle at the end time corresponding to the preset time period according to the first longitudinal displacement.
According to the method provided by the embodiment of the invention, the position of the vehicle at the corresponding end time of the preset time period can be determined by calculating the first longitudinal displacement of the vehicle in the preset time period.
In combination with the content of the above embodiment, in an embodiment, calculating the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period includes:
501. determining a starting moment corresponding to a preset time period and an average wheel rotation angle;
502. calculating a second longitudinal displacement of the vehicle within a preset time period according to the wheel rotation speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000102
in the formula (8), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated and is,
Figure BDA0003589587130000104
indicating the average turning angle of the wheel;
503. calculating the lateral displacement of the vehicle within a preset time period according to the wheel rotating speed, the starting time and the end time of each wheel, wherein the calculation comprises
Figure BDA0003589587130000103
In formula (9), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Which indicates the time of the end point,
Figure BDA0003589587130000111
indicating the mean turning angle of the wheel, ScyIndicating a lateral displacement.
Specifically, the controller may determine an average wheel rotation angle of the vehicle according to the steering signal, and after determining a start time, an end time and the average wheel rotation angle corresponding to the preset time period, the controller may calculate a second longitudinal displacement and a lateral displacement of the vehicle within the preset time period according to the wheel rotation speeds of the four wheels and the average wheel rotation angle, and determine a position of the vehicle at the end time corresponding to the preset time period according to the second longitudinal displacement and the lateral displacement.
According to the method provided by the embodiment of the invention, the position of the vehicle at the corresponding end moment of the preset time period can be determined by calculating the second longitudinal displacement and the transverse displacement of the vehicle in the preset time period.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a vehicle positioning device for realizing the vehicle positioning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle positioning device provided below can be referred to the limitations on the vehicle positioning method in the above, and are not described again here.
In one embodiment, as shown in fig. 3, there is provided a vehicle positioning device including: an obtaining module 301, a determining module 302 and a calculating module 303, wherein:
the obtaining module 301 is configured to obtain a wheel speed encoder resolution, a first speed ratio, a second speed ratio, a wheel rolling radius of each wheel of the vehicle, and a pulse signal detected by a wheel speed sensor within a preset time period, where the first speed ratio refers to a speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to a coupling speed ratio of the wheel speed sensor;
a determining module 302, configured to determine a wheel rotation speed of each wheel according to a wheel speed encoder resolution, a first speed ratio, a second speed ratio, a wheel rolling radius, and a pulse signal of each wheel;
the calculating module 303 is configured to calculate a displacement generated by the vehicle within a preset time period, and calculate a position of the vehicle at a corresponding end point in the preset time period according to the displacement.
In one embodiment, as shown in fig. 4, the apparatus further comprises:
and the controller is used for acquiring the wheel speed of each wheel and calculating the vehicle position according to the wheel speed.
And the half shaft gear is used for rigidly connecting the half shaft and the wheel, and the rotating speed of the gear is the wheel speed. Further, the side gears include a left front side gear, a right front side gear, a left rear side gear, and a right rear side gear.
The meshing gear of the wheel speed sensor is used for reducing the torque when the rotation torque born by the wheel speed sensor is smaller and the torque of the side gear is larger, and if the side gear is directly connected with the wheel speed sensor, the wheel speed sensor can be damaged, so that the rotation speed can be increased and the torque can be reduced by the meshing gear of the wheel speed sensor. Further, the wheel speed sensor meshing gear includes a left front wheel speed sensor meshing gear, a right front wheel speed sensor meshing gear, a left rear wheel speed sensor meshing gear, and a right rear wheel speed sensor meshing gear.
And the wheel speed sensor coupling is used for rigidly connecting the wheel speed sensor with the meshing gear of the wheel speed sensor and transmitting the wheel speed of the meshing gear of the wheel speed sensor to the wheel speed sensor. In addition, the wheel speed sensor couplings include a left front wheel speed sensor coupling, a right front wheel speed sensor coupling, a left rear wheel speed sensor coupling, and a right rear wheel speed sensor coupling.
And the wheel speed sensor is used for measuring the rotating speed value transmitted to the coupling. Further, the wheel speed sensors include a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, and a right rear wheel speed sensor.
In one embodiment, the pulse signal includes an a-phase pulse signal and a B-phase pulse signal; accordingly, the determining module 302 includes:
the first determining submodule is used for determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
and the second determining submodule is used for determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel if the phase difference signal is a pulse signal with 0.25 period.
In one embodiment, the second determination submodule includes:
a first calculation unit for calculating formula (10);
Figure BDA0003589587130000131
in the formula (10), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
In one embodiment, the calculation module 303 includes:
the acquisition submodule is used for acquiring a steering signal generated by a vehicle within a preset time period;
the judging submodule is used for judging whether the vehicle has steering operation according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
and the calculation submodule is used for calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period if the steering operation exists.
In one embodiment, the determining sub-module includes:
the first determining unit is used for determining the starting time corresponding to the preset time period;
the second calculating unit is used for calculating the first longitudinal displacement of the vehicle in a preset time period according to the wheel rotating speed, the starting time and the end time of each wheel, and comprises the following steps:
Figure BDA0003589587130000132
in formula (11), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
In one embodiment, a computation submodule includes:
the second determining unit is used for determining a starting time corresponding to a preset time period and an average wheel rotation angle;
the third calculating unit is used for calculating a second longitudinal displacement of the vehicle in a preset time period according to the wheel rotating speed, the starting time and the end time of each wheel, and comprises the following steps:
Figure BDA0003589587130000133
in the formula (12), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated which is,
Figure BDA0003589587130000134
indicating the average turning angle of the wheels;
the fourth calculating unit is used for calculating the lateral displacement of the vehicle in a preset time period according to the wheel rotating speed, the starting time and the end time of each wheel, and comprises the following steps:
Figure BDA0003589587130000141
in the formula (13), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Which indicates the time of the end point,
Figure BDA0003589587130000142
indicating the mean wheel angle, ScyIndicating a lateral displacement.
The various modules in the vehicle localization apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle localization method. Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
and if the phase difference signal is a pulse signal with 0.25 period, determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
In one embodiment, the processor when executing the computer program further performs the steps of:
Figure BDA0003589587130000151
in formula (14), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a steering signal generated by a vehicle within a preset time period;
judging whether the vehicle has steering operation or not according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
and if the steering operation is carried out, calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining a starting moment corresponding to a preset time period;
according to the wheel rotating speed, the starting time and the ending time of each wheel, calculating a first longitudinal displacement of the vehicle in a preset time period, wherein the method comprises the following steps:
Figure BDA0003589587130000152
in the formula (15), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a starting moment corresponding to a preset time period and an average wheel rotation angle;
calculating a second longitudinal displacement of the vehicle within a preset time period according to the wheel rotating speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000161
in the formula (16), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated and is,
Figure BDA0003589587130000162
indicating the average turning angle of the wheels;
calculating the lateral displacement of the vehicle within a preset time period according to the wheel speed, the starting time and the ending time of each wheel, wherein the calculation comprises
Figure BDA0003589587130000163
In formula (17), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Which indicates the time of the end point,
Figure BDA0003589587130000164
indicating the mean wheel angle, ScyIndicating a lateral displacement.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end time of the preset time period according to the displacement.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
and if the phase difference signal is a pulse signal with 0.25 period, determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Figure BDA0003589587130000171
in the formula (18), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a steering signal generated by a vehicle within a preset time period;
judging whether the vehicle has steering operation or not according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
and if the steering operation is carried out, calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a starting time corresponding to a preset time period;
according to the wheel rotating speed, the starting time and the ending time of each wheel, calculating a first longitudinal displacement of the vehicle in a preset time period, wherein the method comprises the following steps:
Figure BDA0003589587130000172
in the formula (19), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a starting moment corresponding to a preset time period and an average wheel rotation angle;
calculating a second longitudinal displacement of the vehicle within a preset time period according to the wheel rotation speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000181
in the formula (20), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated and is,
Figure BDA0003589587130000182
indicating the average turning angle of the wheel;
calculating the lateral displacement of the vehicle within a preset time period according to the wheel speed, the starting time and the ending time of each wheel, wherein the calculation comprises
Figure BDA0003589587130000183
In the formula (21), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1It is indicated that the time of the end point,
Figure BDA0003589587130000184
indicating the mean turning angle of the wheel, ScyIndicating a lateral displacement.
In one embodiment, a computer program product is provided, comprising a computer program which when executed by a processor performs the steps of:
the method comprises the steps of obtaining the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in a preset time period, and calculating the position of the vehicle at the corresponding end point moment of the preset time period according to the displacement.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
if the phase difference signal is a pulse signal with 0.25 cycles, determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Figure BDA0003589587130000191
in the formula (22), nwheelIndicating wheel speed, fsensorRepresenting the A-phase pulse signal, ssensorRepresenting wheel speed encoder resolution, i0Representing a first speed ratio, i1Representing a second speed ratio and R representing the wheel rolling radius.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a steering signal generated by a vehicle within a preset time period;
judging whether the vehicle has steering operation or not according to the steering signal, and if the vehicle does not have the steering operation, calculating the first longitudinal displacement of the vehicle in a preset time period;
and if the steering operation is carried out, calculating a second longitudinal displacement and a transverse displacement of the vehicle within a preset time period.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a starting moment corresponding to a preset time period;
according to the wheel rotating speed, the starting time and the ending time of each wheel, calculating a first longitudinal displacement of the vehicle in a preset time period, wherein the method comprises the following steps:
Figure BDA0003589587130000192
in the formula (23), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScA first longitudinal displacement is indicated.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a starting moment corresponding to a preset time period and an average wheel rotation angle;
calculating a second longitudinal displacement of the vehicle within a preset time period according to the wheel rotating speed, the starting time and the ending time of each wheel, and the method comprises the following steps:
Figure BDA0003589587130000193
in the formula (24), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Indicates the end point time, ScxA second longitudinal displacement is indicated which is,
Figure BDA0003589587130000201
indicating the average turning angle of the wheels;
calculating the lateral displacement of the vehicle within a preset time period according to the wheel speed, the starting time and the ending time of each wheel, wherein the calculation comprises
Figure BDA0003589587130000202
In the formula (25), nwheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively indicates the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Denotes the starting time, t1Which indicates the time of the end point,
Figure BDA0003589587130000203
indicating the mean turning angle of the wheel, ScyIndicating a lateral displacement.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include a Read-Only Memory (ROM), a magnetic tape, a floppy disk, a flash Memory, an optical Memory, a high-density embedded nonvolatile Memory, a resistive Random Access Memory (ReRAM), a Magnetic Random Access Memory (MRAM), a Ferroelectric Random Access Memory (FRAM), a Phase Change Memory (PCM), a graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (10)

1. A vehicle positioning method, characterized in that the method comprises:
acquiring the resolution of a wheel speed encoder of each wheel of the vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor in a preset time period, wherein the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the coupling speed ratio of the wheel speed sensor;
determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and calculating the displacement of the vehicle in the preset time period, and calculating the position of the vehicle at the end moment corresponding to the preset time period according to the displacement.
2. The method according to claim 1, wherein the pulse signal includes an a-phase pulse signal and a B-phase pulse signal; correspondingly, the determining the wheel speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel comprises:
determining a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;
and if the phase difference signal is a pulse signal with 0.25 period, determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel.
3. The method of claim 2, wherein determining the wheel speed of each wheel based on the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius of each wheel, and the a-phase pulse signal comprises:
Figure FDA0003589587120000011
wherein n iswheelRepresenting said wheel speed, fsensorRepresenting said A-phase pulse signal, ssensorRepresenting the wheel speed encoder resolution, i0Representing said first speed ratio, i1Representing the second speed ratio and R representing the wheel rolling radius.
4. The method of claim 3, wherein the calculating the displacement of the vehicle over the preset time period comprises:
acquiring a steering signal generated by the vehicle in the preset time period;
judging whether the vehicle has steering operation or not according to the steering signal, and if not, calculating a first longitudinal displacement of the vehicle in the preset time period;
and if the steering operation exists, calculating a second longitudinal displacement and a transverse displacement of the vehicle in the preset time period.
5. The method of claim 4, wherein the calculating a first longitudinal displacement of the vehicle over the preset time period comprises:
determining the starting time corresponding to the preset time period;
calculating a first longitudinal displacement of the vehicle within the preset time period according to the wheel rotation speed of each wheel, the start time and the end time, including:
Figure FDA0003589587120000021
wherein n iswheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively representing the wheel speeds, t, of the front left wheel, the front right wheel, the rear left wheel and the rear right wheel of the vehicle0Represents the starting time, t1Represents the end point time, ScRepresenting the first longitudinal displacement.
6. The method of claim 4, wherein the calculating a second longitudinal displacement and a lateral displacement of the vehicle over the preset time period comprises:
determining a starting moment corresponding to the preset time period and an average wheel rotation angle;
calculating a second longitudinal displacement of the vehicle within the preset time period according to the wheel rotation speed of each wheel, the start time and the end time, including:
Figure FDA0003589587120000022
wherein n iswheel,FL、nwheel,FR、nwheel,RLAnd nwheel,RRRespectively represents the wheel rotation speeds t of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle0Represents the starting time, t1Represents the end point time, ScxIs representative of the second longitudinal displacement and,
Figure FDA0003589587120000031
representing the wheel average rotation angle;
calculating the transverse displacement of the vehicle in the preset time period according to the wheel rotating speed of each wheel, the starting time and the end time, wherein the transverse displacement comprises
Figure FDA0003589587120000032
Wherein S iscyRepresenting the lateral displacement.
7. A vehicle locating apparatus, characterized in that the apparatus comprises:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the resolution of a wheel speed encoder of each wheel of a vehicle, a first speed ratio, a second speed ratio, the rolling radius of the wheel and a pulse signal detected by a wheel speed sensor within a preset time period, the first speed ratio refers to the speed ratio of a side gear and a meshing gear of the wheel speed sensor, and the second speed ratio refers to the speed ratio of a coupling of the wheel speed sensor;
the determining module is used for determining the wheel rotating speed of each wheel according to the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;
and the calculation module is used for calculating the displacement of the vehicle in the preset time period and calculating the position of the vehicle at the corresponding end moment of the preset time period according to the displacement.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
CN202210373150.1A 2022-04-11 2022-04-11 Vehicle positioning method and device, computer equipment and storage medium Pending CN114777784A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210373150.1A CN114777784A (en) 2022-04-11 2022-04-11 Vehicle positioning method and device, computer equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210373150.1A CN114777784A (en) 2022-04-11 2022-04-11 Vehicle positioning method and device, computer equipment and storage medium

Publications (1)

Publication Number Publication Date
CN114777784A true CN114777784A (en) 2022-07-22

Family

ID=82428610

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210373150.1A Pending CN114777784A (en) 2022-04-11 2022-04-11 Vehicle positioning method and device, computer equipment and storage medium

Country Status (1)

Country Link
CN (1) CN114777784A (en)

Similar Documents

Publication Publication Date Title
US8090503B2 (en) Method for determining absolute steering wheel angle from a single-turn steering wheel angle sensor
US20140163808A1 (en) System and method of acquiring bias of yaw rate sensor for vehicle
CN108805075B (en) Driving trajectory line obtaining method and device and electronic equipment
CN114019954B (en) Course installation angle calibration method, device, computer equipment and storage medium
CN115824229A (en) Course angle correction method, device, equipment, storage medium and program product
CN114777784A (en) Vehicle positioning method and device, computer equipment and storage medium
CN115214692A (en) Centroid speed determination method and device
CN113753126B (en) Automobile steering system, absolute angle diagnosis method of steering wheel of automobile steering system, automobile and medium
CN113720349A (en) Odometer information smoothing method based on Kalman filtering
CN115489335B (en) Torque control method, device, equipment and medium based on energy recovery
CN112455541B (en) Wheel corner determining method, device and equipment
CN117465545A (en) Steering end protection method and device, electronic equipment and storage medium
CN114321360B (en) Method and device for identifying gear of manual gear gearbox and computer equipment
CN116395022A (en) Fault monitoring method, device, vehicle and readable storage medium
CN116252853A (en) Damping compensation control method, damping compensation control device, controller and storage medium
CN114852171A (en) Vehicle and steering control method and device thereof, storage medium and terminal
CN115285127A (en) Vehicle minimum turning radius calculation method, device, equipment and readable storage medium
JP2007248151A (en) Absolute angle information output apparatus
CN114572303A (en) Electric power steering system control method, electric power steering system control device, computer equipment and storage medium
CN114537515B (en) Steering control method, device, system, computer equipment and storage medium
CN114954021A (en) Method and device for acquiring driving range, electronic equipment and vehicle
CN115973266B (en) Torque compensation method and device for steering wheel dead zone, computer equipment and medium
CN115230696B (en) Centering control method for single-lane running of vehicle
CN113030504B (en) Vehicle speed measuring method and device, vehicle-mounted computer equipment and storage medium
CN117799700A (en) Method, device, equipment and medium for determining zero offset of steering wheel

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