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

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 technical field of autonomous vehicles, and in particular, to a vehicle positioning method, apparatus, computer equipment and storage medium.

Background technique

With the development of autonomous driving technology, vehicle positioning technology in autonomous driving technology is also constantly improving. In order to ensure the safety of self-driving flatbeds or wire-controlled vehicles in port operations, the accuracy of the positioning of the self-driving flatbeds or wire-controlled vehicles is particularly important. In the related art, the self-driving flatbed or the wire-controlled vehicle uses GPS signals for positioning. However, when the GPS signal is blocked by objects in the surrounding environment, the self-driving flatbed or the wire-controlled vehicle may not be able to receive the GPS signal, which makes the self-driving flatbed. Or the wire-controlled vehicle cannot be accurately positioned.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a method, an apparatus, a computer device, a computer-readable storage medium and a computer program product capable of locating a vehicle in response to the above technical problems.

In a first aspect, the present application provides a vehicle positioning method. The method includes:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In one of the embodiments, the pulse signal includes an A-phase pulse signal and a B-phase pulse signal; accordingly, according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse of each wheel Signals to determine the wheel speed of each wheel, including:

Determine the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

If the phase difference signal is a pulse signal of 0.25 cycles, the wheel of each wheel is determined according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal. Rotating speed.

In one of the embodiments, 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 A-phase pulse signal of each wheel, including:

In formula (1), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling. radius.

In one of the embodiments, calculating the displacement generated by the vehicle within a preset time period includes:

Obtain the turn signals generated by the vehicle within a preset time period;

According to the steering signal, determine whether the vehicle has a steering operation, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period;

If there is a steering operation, the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period are calculated.

In one of the embodiments, calculating the first longitudinal displacement of the vehicle within a preset time period includes:

Determine the start time corresponding to the preset time period;

Calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

In formula (2), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

In one of the embodiments, calculating the second longitudinal displacement and lateral displacement of the vehicle within a preset time period includes:

Determine the start time corresponding to the preset time period and the average wheel angle;

Calculate the second longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

表示车轮平均转角；In formula (3), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

Calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including

In formula (4), S _cy represents the lateral displacement.

In a second aspect, the present application also provides a vehicle positioning device. The device includes:

The acquisition module is used to acquire the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein , the first speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio;

a determining module, configured to determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal;

The calculation module is used to calculate the displacement generated by the vehicle within the preset time period, and according to the displacement, calculate the position of the vehicle at the end time corresponding to the preset time period.

In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by the processor, the following steps are implemented:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

The above-mentioned vehicle positioning method, device, computer equipment, storage medium and computer program product obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius of each wheel of the vehicle, and the pre-determined wheel speed sensor. Set the pulse signal detected in the time period, wherein, the first speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio; according to The resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel determine the wheel speed of each wheel; calculate the displacement of the vehicle within a preset time period, and According to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated. When the GPS signal cannot be received, the method can be used to assist the positioning of the vehicle, thereby improving the safety and reliability of the vehicle operating in the port. In addition, the method can also be used for the accuracy correction of the real-time position, so as to improve the accuracy of the vehicle positioning.

Description of drawings

1 is a schematic flowchart of a vehicle positioning method in one embodiment;

2 is a schematic diagram of a pulse signal in one embodiment;

3 is a structural block diagram of a vehicle positioning device in one embodiment;

4 is a structural block diagram of a vehicle positioning device in another embodiment;

FIG. 5 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

It can be understood that the terms "first", "second" and the like used in this application can be used to describe various technical terms in this document, but these technical terms are not limited by these terms unless otherwise specified. These terms are only used to distinguish one professional 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 quantities such as "a plurality" mentioned in various embodiments of the present application all refer to the quantity of "at least two", for example, "a plurality" refers to "at least two".

In one embodiment, as shown in FIG. 1 , a vehicle positioning method is provided. In this embodiment, the method is applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a terminal. A system including a terminal and a server, and is realized through the interaction of the terminal and the server. In this embodiment, the method includes the following steps:

101. Acquire the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius, and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first The speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio;

102. Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal;

103. Calculate the displacement of the vehicle within the preset time period, and calculate the position of the vehicle at the end time corresponding to the preset time period according to the displacement.

In the above-mentioned step 101, the wheel speed encoder is composed of a side gear, a wheel speed sensor meshing gear, a wheel speed sensor coupling and a wheel speed sensor. The various parameters of the wheel speed sensors of each vehicle are determined before the wheel speed of each wheel is calculated. The parameters of the wheel speed encoder include the wheel speed encoder resolution, the first speed ratio, and the second speed ratio.

The method for determining the first speed ratio and the second speed ratio includes, according to the torque T _sensor that the wheel speed sensor can bear, the torque T _Axle of the side gear, the wheel speed c _wheel , and the wheel speed n _Axle of the side gear And the measured value n _sensor of the wheel speed sensor determines the first speed ratio i ₀ and the second speed ratio i ₁ , as shown in formula (5):

In practical applications, the wheel speed sensor coupling exists as the connection shaft between the wheel speed sensor meshing gear and the wheel speed sensor, so the speed ratio of the wheel speed sensor coupling can be 1. Of course, the speed ratio of the wheel speed sensor coupling can also be other values other than 1.

Generally, the wheel speed encoder resolution, the first speed ratio and the second speed ratio of the four wheels of the same vehicle are all the same. Of course, it can also be different, and the resolution of the wheel speed encoder, the first speed ratio and the second speed ratio of each wheel are determined according to the actual situation.

Specifically, when the controller of the vehicle does not receive the GPS signal within a preset time period, the controller of the vehicle obtains the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel speed encoder and the wheel speed of each wheel of the vehicle. The rolling radius and the pulse signal detected by the wheel speed sensor within the preset time period can calculate the average wheel speed of each wheel of the vehicle within the preset time period. Then, the horizontal displacement distance and the vertical displacement distance of the vehicle can be calculated according to the average wheel speed of the four wheels in the preset time period and the preset time period. In addition, the controller also needs to obtain the position of the vehicle at the starting point corresponding to the preset time period. Finally, according to the position of the starting point corresponding to the preset time period, the horizontal displacement distance and the vertical displacement distance, the vehicle at the preset time can be calculated. The position of the end point corresponding to the segment. When the controller can obtain the GPS signal within the preset time period, the position of the vehicle at the end time corresponding to the preset time period is obtained from the GPS signal.

The controller may be the main controller of the vehicle, or may be other controllers 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 also be performed by the method provided in this embodiment. For example, the controller can obtain the current position of the vehicle through the GPS signal. As the first position, the controller uses the position at the end time calculated in the above embodiment as the second position, and then the controller determines the first position and the third position. The difference between the two positions, if the difference is greater than the preset difference, the controller corrects the first position.

The method provided by the real-time example of the present invention can assist the positioning of the vehicle by determining the wheel speed of each wheel and calculate the displacement generated by the vehicle within a preset time period, thereby improving the safety and reliability of the vehicle operating in the port. In addition, the method can also be used for the accuracy correction of the real-time position of the vehicle, so as to improve the accuracy of the vehicle positioning.

In combination with the content of the above embodiments, in one embodiment, the pulse signal includes a phase A pulse signal and a phase B pulse signal; accordingly, according to the resolution of the wheel speed encoder, the first speed ratio, and the second speed ratio of each wheel , wheel rolling radius and pulse signal to determine the wheel speed of each wheel, including:

201. Determine a phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

202. If the phase difference signal is a pulse signal of 0.25 cycles, determine 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. wheel speed.

Specifically, the wheel speed sensor outputs pulse signals of three channels, as shown in FIG. 2 , which are A-phase pulse signals, B-phase pulse signals, and Z-phase pulse signals, respectively. Among them, the A-phase pulse signal and the B-phase pulse signal are generally a pair of quadrature pulse signals. When the main shaft of the wheel speed encoder rotates clockwise, the A-phase pulse signal is located before the B-phase pulse signal. When the main shaft of the inverter rotates counterclockwise, the A-phase pulse signal is located after the B-phase pulse signal. In addition, the wheel speed encoder sends a pulse signal every one rotation, and the pulse signal is the Z-phase pulse signal.

When the controller successfully checks the pulse signal, it will calculate each wheel according to the A-phase pulse signal in the pulse signal and the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, and the wheel rolling radius of each wheel. The average wheel speed of a wheel.

The method provided by the embodiment of the present invention can improve the accuracy of the wheel speed calculated by the A-phase pulse signal by verifying the A-phase pulse signal, thereby improving the accuracy of the displacement calculated by the wheel speed.

In combination with the content of the above embodiments, in one embodiment, the wheel of each wheel is determined according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal. RPM, including:

In formula (6), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling. radius.

Specifically, since the wheel speed encoder cannot directly measure the rotational speed of the wheel speed sensor coupling, it is necessary to calculate the wheel speed 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. The rotational speed of the speed sensor coupling, and the left front wheel, right front wheel, left rear wheel of the vehicle are finally determined according to the rotational speed of the wheel speed sensor coupling, the first speed ratio, the second speed ratio of each wheel and the wheel rolling radius wheel and the wheel speed of the right rear wheel. .

The resolution of the wheel speed encoder is generally 1 to 10000, and the commonly used resolution is 1024, that is, when the wheel speed encoder has 1024 A-phase pulse signals, the wheel of the vehicle rotates one circle. The frequency acquisition port of the controller can effectively identify the coding frequency of the wheel speed encoder, that is, the pulse signal collected within 1s.

In the method provided by the embodiment of the present invention, the wheel speed of each wheel can be determined by the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal of each wheel .

In combination with the content of the above embodiments, in one embodiment, calculating the displacement generated by the vehicle within a preset time period includes:

301. Acquire a turn signal generated by the vehicle within a preset time period;

302. Determine whether the vehicle has a steering operation according to the steering signal, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period;

303. If there is a steering operation, calculate the second longitudinal displacement and lateral displacement of the vehicle within a preset time period.

In the above step 301, the turn signal can reflect whether the vehicle has a steering operation.

In the above step 302, the first longitudinal displacement refers to the running distance of the vehicle.

In the above step 303, the second longitudinal displacement refers to the vertical component of the vehicle running distance, and the lateral displacement refers to the horizontal component of the vehicle running distance.

Specifically, if the controller does not obtain a steering signal within the preset time period, and the vehicle does not perform a steering operation, only the first longitudinal displacement needs to be calculated, and according to the first longitudinal displacement and the vehicle corresponding to the preset time period The position of the starting point time, the position of the end point corresponding to the vehicle in the preset time period is calculated. For example, if the first longitudinal displacement is S _c , and the position of the vehicle at the start point corresponding to the preset time period is (X _L , Y _L ), then the position of the vehicle at the end point corresponding to the preset time period is (X _L +S _c , _YL ).

If the controller obtains the steering signal, and the vehicle has performed the steering operation, the second longitudinal displacement and the lateral displacement need to be calculated, and calculated according to the second longitudinal displacement, the lateral displacement and the position of the vehicle at the starting point corresponding to the preset time period. The position of the vehicle at the end time corresponding to the preset time period. For example, if the second longitudinal displacement is S _cx , the lateral displacement is S _cy , and the position of the vehicle at the start time corresponding to the preset time period is ( _{XL , Y L )} , then the position of the vehicle at the end time corresponding to the preset time period is (X _L +S _cx , Y _L +S _cy ).

In the method provided by the embodiment of the present invention, it can be determined whether the vehicle has a steering operation within the preset time period through the steering signal in the preset time period, so that the method of calculating the displacement can be classified, and the operation efficiency of the controller can be improved. .

In combination with the content of the above embodiments, in one embodiment, calculating the first longitudinal displacement of the vehicle within a preset time period includes:

401. Determine a start time corresponding to a preset time period;

402. Calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time, and end time of each wheel, including:

In formula (7), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

Specifically, after determining the start time and the end time corresponding to the preset time period, the controller can calculate the first longitudinal displacement of the vehicle within the preset time period according to the wheel speeds of the four wheels, and calculate the first longitudinal displacement of the vehicle according to the first longitudinal displacement. The position of the vehicle at the end time corresponding to the preset time period is determined.

In the method provided by the embodiment of the present invention, by calculating the first longitudinal displacement of the vehicle within the preset time period, the position of the vehicle at the end time corresponding to the preset time period can be determined.

In combination with the content of the foregoing embodiments, in one embodiment, calculating the second longitudinal displacement and lateral displacement of the vehicle within a preset time period includes:

501. Determine the start time corresponding to the preset time period and the average wheel angle;

502. Calculate the second longitudinal displacement of the vehicle within a preset time period according to the wheel speed, the start time, and the end time of each wheel, including:

表示车轮平均转角；In formula (8), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

503. Calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, the start time, and the end time of each wheel, including

表示车轮平均转角，S_cy表示横向位移。In formula (9), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel, respectively, t ₀ represents the start time, t ₁ represents the end time,

represents the average wheel angle, and _Scy represents the lateral displacement.

Specifically, the controller can determine the average wheel rotation angle of the vehicle according to the steering signal. After determining the start time, end time and the average wheel angle corresponding to the preset time period, the controller can , calculating the second longitudinal displacement and lateral displacement of the vehicle within the preset time period, and determining the position of the vehicle at the end time corresponding to the preset time period according to the second longitudinal displacement and the lateral displacement.

In the method provided by the embodiment of the present invention, by calculating the second longitudinal displacement and lateral displacement of the vehicle within the preset time period, the position of the vehicle at the end time corresponding to the preset time period can be determined.

It should be understood that, although the steps in the flowcharts involved in the above embodiments are sequentially displayed according to the arrows, these steps are not necessarily executed sequentially according to the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be performed at different times The execution order of these steps or phases is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or phases in the other steps.

Based on the same inventive concept, an embodiment of the present application also provides a vehicle positioning device for implementing the above-mentioned vehicle positioning method. The implementation solution provided by this device for solving the problem is similar to the implementation solution described in the above method, so the specific limitations in one or more vehicle positioning device embodiments provided below can refer to the above limitations on the vehicle positioning method, It is not repeated here.

In one embodiment, as shown in FIG. 3, a vehicle positioning apparatus is provided, including: an acquisition module 301, a determination module 302 and a calculation module 303, wherein:

The obtaining module 301 is used to obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, Among them, the first speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio;

A determination module 302, configured to determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal;

The calculation module 303 is configured to calculate the displacement generated by the vehicle within the preset time period, and calculate the position of the vehicle at the end time corresponding to the preset time period according to the displacement.

In one embodiment, as shown in Figure 4, the device further includes:

The controller is used to collect the wheel speed of each wheel, and calculate the vehicle position according to the wheel speed.

Axle gear is used for rigid connection between the axle and the wheel, and the speed of the gear is the wheel speed. In addition, 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 wheel speed sensor meshes with the gear, which is used when the wheel speed sensor bears a small rotational torque, while the torque of the side gear is large. If the side gear is directly connected to the wheel speed sensor, the wheel speed sensor will be damaged, so the wheel speed sensor can be damaged by the wheel speed sensor. The speed sensor engages the gear to increase the speed and reduce the torque. In addition, the wheel speed sensor meshing gears include 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.

The wheel speed sensor coupling is used to rigidly connect the wheel speed sensor and the wheel speed sensor meshing gear, and transmit the wheel speed of the wheel speed sensor meshing gear to the wheel speed sensor. In addition, the wheel speed sensor coupling includes 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.

Wheel speed sensor for measuring the rotational speed value transmitted to the coupling. In addition, 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:

a first determination submodule, used for determining the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

The second determination sub-module is used for if the phase difference signal is a pulse signal of 0.25 cycles, according to 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 to determine the wheel speed of each wheel.

In one embodiment, the second determination submodule includes:

a first calculation unit for calculating formula (10);

In formula (10), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling. radius.

In one embodiment, the computing module 303 includes:

an acquisition sub-module for acquiring the turn signals generated by the vehicle within a preset time period;

a judging sub-module for judging whether the vehicle has a steering operation according to the steering signal, and if there is no steering operation, calculating the first longitudinal displacement of the vehicle within a preset time period;

The calculation sub-module is configured to calculate the second longitudinal displacement and lateral displacement of the vehicle within a preset time period if there is a steering operation.

In one embodiment, the judgment submodule includes:

a first determining unit, configured to determine the start time corresponding to the preset time period;

The second calculation unit is configured to calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, the start time and the end time of each wheel, including:

In formula (11), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

In one embodiment, the calculation sub-module includes:

a second determining unit, configured to determine the start time corresponding to the preset time period and the average wheel rotation angle;

The third calculation unit is configured to calculate the second longitudinal displacement of the vehicle within the preset time period according to the wheel speed, the start time and the end time of each wheel, including:

表示车轮平均转角；In formula (12), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

The fourth calculation unit is used to calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, the start time and the end time of each wheel, including:

表示车轮平均转角，S_cy表示横向位移。In formula (13), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time,

represents the average wheel angle, and _Scy represents the lateral displacement.

Each module in the above-mentioned vehicle positioning device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 5 . The computer device includes a processor, memory, and a communication interface connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer equipment is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program, when executed by a processor, implements a vehicle positioning method. Those skilled in the art can understand that the structure shown in FIG. 5 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In one embodiment, the processor further implements the following steps when executing the computer program:

Determine the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

If the phase difference signal is a pulse signal of 0.25 cycles, the wheel of each wheel is determined according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal. Rotating speed.

In one embodiment, the processor further implements the following steps when executing the computer program:

In formula (14), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling radius.

In one embodiment, the processor further implements the following steps when executing the computer program:

Obtain the turn signals generated by the vehicle within a preset time period;

According to the steering signal, determine whether the vehicle has a steering operation, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period;

If there is a steering operation, the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period are calculated.

In one embodiment, the processor further implements the following steps when executing the computer program:

Determine the start time corresponding to the preset time period;

Calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

In formula (15), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

In one embodiment, the processor further implements the following steps when executing the computer program:

Determine the start time corresponding to the preset time period and the average wheel angle;

Calculate the second longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

表示车轮平均转角；In formula (16), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

Calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including

表示车轮平均转角，S_cy表示横向位移。In formula (17), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel, respectively, t ₀ represents the start time, t ₁ represents the end time,

represents the average wheel angle, and _Scy represents the lateral displacement.

In one embodiment, a computer-readable storage medium is provided on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

If the phase difference signal is a pulse signal of 0.25 cycles, the wheel of each wheel is determined according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal. Rotating speed.

In one embodiment, the computer program further implements the following steps when executed by the processor:

In formula (18), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling. radius.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Obtain the turn signals generated by the vehicle within a preset time period;

According to the steering signal, determine whether the vehicle has a steering operation, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period;

If there is a steering operation, the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period are calculated.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the start time corresponding to the preset time period;

Calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

In formula (19), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the start time corresponding to the preset time period and the average wheel angle;

Calculate the second longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

表示车轮平均转角；In formula (20), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

Calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including

表示车轮平均转角，S_cy表示横向位移。In formula (21), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time,

represents the average wheel angle, and _Scy represents the lateral displacement.

In one embodiment, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the following steps:

Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio It refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the speed ratio of the wheel speed sensor coupling;

Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel;

The displacement generated by the vehicle in the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the phase difference signal between the A-phase pulse signal and the B-phase pulse signal;

If the phase difference signal is a pulse signal of 0.25 cycles, the wheel of each wheel is determined according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse signal. Rotating speed.

In one embodiment, the computer program further implements the following steps when executed by the processor:

In formula (22), n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, i ₁ represents the second speed ratio, and R represents the wheel rolling radius.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Obtain the turn signals generated by the vehicle within a preset time period;

According to the steering signal, determine whether the vehicle has a steering operation, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within a preset time period;

If there is a steering operation, the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period are calculated.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the start time corresponding to the preset time period;

Calculate the first longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

In formula (23), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, and S _c represents the first longitudinal displacement.

In one embodiment, the computer program further implements the following steps when executed by the processor:

Determine the start time corresponding to the preset time period and the average wheel angle;

Calculate the second longitudinal displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including:

表示车轮平均转角；In formula (24), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

Indicates the average wheel angle;

Calculate the lateral displacement of the vehicle within a preset time period according to the wheel speed, start time and end time of each wheel, including

表示车轮平均转角，S_cy表示横向位移。In formula (25), n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} represent the wheel speeds of the front left wheel, front right wheel, rear left wheel and rear right wheel of the vehicle, respectively, t ₀ represents the start time, t ₁ represents the end time,

represents the average wheel angle, and _Scy represents the lateral displacement.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all Information and data authorized by the user or fully authorized by the parties.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to a memory, a database or other media used in the various embodiments provided in this application may include at least one of a non-volatile memory and a volatile memory. Non-volatile memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Memory) Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration and not limitation, the RAM may be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The database involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the present application should be determined by the appended claims.

Claims (10)

1. a vehicle positioning method, is characterized in that, described method comprises: Obtain the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein the first speed ratio The speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio; Determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal of each wheel; The displacement generated by the vehicle within the preset time period is calculated, and according to the displacement, the position of the vehicle at the end time corresponding to the preset time period is calculated. 2 . The method according to claim 1 , wherein the pulse signal comprises an A-phase pulse signal and a B-phase pulse signal; correspondingly, the method according to the wheel speed encoder resolution of each wheel, the first The first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal determine the wheel speed of each wheel, including: determining the phase difference signal between the A-phase pulse signal and the B-phase pulse signal; If the phase difference signal is a 0.25-cycle pulse signal, then according to 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, Determine the wheel speed of each wheel. 3. The method according to claim 2, wherein the wheel speed encoder resolution, the first speed ratio, the second speed ratio, the wheel rolling radius and the A-phase pulse of each wheel are Signals to determine the wheel speed of each wheel, including:

Wherein, n _wheel represents the wheel speed, f _sensor represents the A-phase pulse signal, s _sensor represents the wheel speed encoder resolution, i ₀ represents the first speed ratio, and i ₁ represents the second speed ratio, R represents the wheel rolling radius. 4. The method according to claim 3, wherein the calculating the displacement of the vehicle within the preset time period comprises: acquiring a turn signal generated by the vehicle within the preset time period; According to the steering signal, determine whether the vehicle has a steering operation, and if there is no steering operation, calculate the first longitudinal displacement of the vehicle within the preset time period; If there is a steering operation, a second longitudinal displacement and a lateral displacement of the vehicle within the preset time period are calculated. 5. The method according to claim 4, wherein the calculating the first longitudinal displacement of the vehicle within the preset time period comprises: determining the start time corresponding to the preset time period; According to the wheel speed of each wheel, the start time and the end time, calculating the first longitudinal displacement of the vehicle within the preset time period, including:

Wherein, n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} respectively represent the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle, and t ₀ represents the The starting time, t ₁ represents the end time, and S _c represents the first longitudinal displacement. 6. The method according to claim 4, wherein the calculating the second longitudinal displacement and the lateral displacement of the vehicle within the preset time period comprises: determining the start time corresponding to the preset time period and the average wheel angle; According to the wheel speed of each wheel, the start time and the end time, calculating the second longitudinal displacement of the vehicle within the preset time period, including:

Wherein, n _wheel,FL , n _{wheel, FR} , n _{wheel, RL} and n _{wheel, RR} respectively represent the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle, and t ₀ represents the the start time, t ₁ represents the end time, S _cx represents the second longitudinal displacement,

represents the average turning angle of the wheel; According to the wheel speed of each wheel, the start time and the end time, calculate the lateral displacement of the vehicle within the preset time period, including

where S _cy represents the lateral displacement. 7. A vehicle positioning device, wherein the device comprises: The acquisition module is used to acquire the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal detected by the wheel speed sensor within a preset time period of each wheel of the vehicle, wherein , the first speed ratio refers to the speed ratio between the side gear and the wheel speed sensor meshing gear, and the second speed ratio refers to the wheel speed sensor coupling speed ratio; a determining module, configured to determine the wheel speed of each wheel according to the resolution of the wheel speed encoder, the first speed ratio, the second speed ratio, the wheel rolling radius and the pulse signal; The calculation module is configured to calculate the displacement of the vehicle in the preset time period, and calculate the position of the vehicle at the end time corresponding to the preset time period according to the displacement. 8. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the method according to any one of claims 1 to 6 when the processor executes the computer program. step. 9. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented. 10. A computer program product comprising a computer program, characterized in that the computer program implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

Images