WO2024007569A1 - Dead reckoning method and apparatus, device, and medium - Google Patents

Abstract

A dead reckoning method and apparatus, an electronic device, and a computer-readable storage medium. The method comprises: determining an initial phase difference of a current vehicle (S110); correcting, on the basis of the initial phase difference, a first left rear wheel pulse count or a first right rear wheel pulse count at the current moment (S120); and predicting dead reckoning information of the current vehicle at the current moment on the basis of the corrected first left rear wheel pulse count or first right rear wheel pulse count (S130).

Description

Flight position prediction methods, devices, equipment and media

This application claims priority to the Chinese patent application with application number 202210781542.1, which was submitted to the China Patent Office on July 4, 2022. The entire content of the above application is incorporated into this application by reference.

Technical field

This application relates to the field of vehicle technology, for example, to a position prediction method, device, equipment and medium.

Background technique

Dead-Reckoning (DR) starts from the known position of the object at the previous moment, and calculates the position of the object at the current moment based on the current movement course and speed, and so on. As the application of in-vehicle navigation systems becomes more and more popular, and anti-lock braking system (ABS) gradually becomes the standard configuration of many models, using ABS wheel speed sensors as dead reckoning sensors can make full use of resources. Utilization can reduce the production cost of vehicle navigation systems.

At present, the main processing method is the differential mileage algorithm, and the input can be the pulse data of the front and rear four wheels. However, there will be a certain angle error in calculating DR using this method, which will affect the accuracy of the entire driving trajectory.

Contents of the invention

This application provides a dead position prediction method, device, equipment and medium to improve the dead position prediction accuracy.

According to one aspect of the present application, a flight position prediction method is provided, including:

Determine the initial phase difference of the current vehicle;

Modify the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference;

The position information of the current vehicle at the current moment is predicted based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number.

According to another aspect of the present application, a flight position prediction device is provided, including:

The initial phase difference determination module is configured to determine the initial phase difference of the current vehicle;

A correction module configured to correct the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference;

a prediction module configured to be based on the corrected first left rear wheel pulse number and the first right rear wheel pulse Predict the position information of the current vehicle at the current moment.

According to another aspect of the present application, an electronic device is provided, the electronic device including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Deadline prediction method.

According to another aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. flight position prediction method.

It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present application will become readily understood from the following description.

Description of the drawings

Figure 1 is a schematic diagram of the principle of differential mileage algorithm in related technologies;

Figure 2 is a flow chart of a flight position prediction method provided by an embodiment of the present application;

Figure 3 is a schematic diagram of the implementation of the flight position prediction method provided according to an embodiment of the present application;

Figure 4 is a schematic structural diagram of a flight position prediction device provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electronic device that implements the flight position prediction method according to the embodiment of the present application.

Detailed ways

Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

For ease of understanding, a schematic diagram of the differential mileage algorithm principle shown in Figure 1 is given. Take the pulse input data of the rear two wheels (non-driving wheels) as an example. As shown in Figure 1, the number of pulses output by the left and right wheels of the car after time k-1 are LR _k-1 and RR _k-1 respectively. At time k, the output pulses are LR _k and RR _k . The movement distance of the left rear wheel is Δ _LR , the movement distance of the right rear wheel is _ΔRR . The trajectory of the car during this period of time is represented by the trajectory of the midpoint of the rear axle of the car. As shown in the figure, traveling from M _k-1 to M _k , the motion trajectory during this short period of time can be regarded as a circle with O as the center. Taking an arc with radius R, the estimation formulas of the car’s driving distance Δ and the driving azimuth angle change ω are respectively:

Where W _R is the length of the rear axle.

Figure 2 is a flow chart of a dead position prediction method provided by an embodiment of the present application. This embodiment can be applied to the situation of dead position prediction. The method can be executed by a dead position prediction device. The dead position prediction device can use hardware. And/or implemented in the form of software, the flight position prediction device can be configured in the server. As shown in Figure 2, the method includes:

S110. Determine the initial phase difference of the current vehicle.

It should be noted that when the car is running, the gear trigger sensor on the wheel can be used to count and output the corresponding number of pulses. Among them, the number of pulses is the cumulative value of an integer. Since there is a certain distance between the two gears, when the car moves from rest to starting, the left rear and right rear wheels may be in the middle of the two gears. For example, when the first gear slides past the sensor, it counts as 1, but until the second gear slides past the sensor, the sensor's count value or number of pulses is 1. Therefore, the initial phase can be understood as the situation where the left rear and right rear wheels may be in the middle of the two gears when the car is moving from rest to starting. The initial phase difference can be understood as the difference in pulse number between the left and right rear wheels when the vehicle is stationary, or as the average value of the difference in pulse numbers between the left and right rear wheels in multiple frames.

For example, assuming that when the car is stationary, the wheel speed pulse values of the left and right rear wheels are L0, R0, 0≤L0<1, 0≤R0<1, within one pulse. Start going straight, the driving paths of the left and right wheels are the same, both are recorded as LR _i , because there is a truncation, where the truncation can be understood as a value between 0-1, and the output is a value of 0, so the wheel speed pulse output value is L _i , R _i ,i represent different moments. Assume that the truncation errors each time are δL _i and δR _i , which are also 0≤δL _i <1 and 0≤≤δR _i <1 within one pulse.

The specific formula is as follows: L0+LR _i =L _i +δL _i ;

R0+LR _i =R _i +δR _i ;

L0-R0=(L _i -R _i )+(δL _i -δR _i )

After verification, after the number of pulses in multiple frames is accumulated, is close to 0, then L _i and R _i are respectively output through the left and right rear pulses of multiple frames, which can be calculated by the formula The initial phase difference is obtained, which can be used to calculate DR.

Optionally, in practical applications, the method of determining the initial phase difference of the current vehicle can be: controlling the current vehicle to drive straight from stationary to starting for a set duration; obtaining the left rear wheel pulses corresponding to multiple frames within the set duration. number and the number of right rear wheel pulses; calculate the difference in the number of left and right wheel pulses in each frame; average the difference in the number of left and right wheel pulses in multiple frames to obtain the initial phase difference of the current vehicle.

In this embodiment, there is no limit to the set time, which may be 3 to 4 seconds, for example. Similarly, this embodiment does not limit the specific value of multiple frames, for example, it can be 80 to 100 frames. Specifically, the current vehicle is controlled to drive as straight as possible from stationary to starting. The number of left rear wheel pulses and the number of right rear wheel pulses of the current vehicle in the straight traveling state can be obtained based on the initial driving angle and the set threshold, and the Set the pulse number of the left rear wheel and right rear wheel in multiple frames within the duration, so that the difference in pulse number of the left rear wheel and right rear wheel in each frame can be calculated first, and then the pulse number of the left rear wheel and right rear wheel in multiple frames can be calculated. Calculate the average of the differences to obtain the initial phase difference. For example, the initial driving angle is denoted as θ, and the set threshold is denoted as θ _threshold . θ _threshold =Δt/W _R . Among them, i can represent a blocked moment or different frames, Δt represents the time difference between two frames, Δ _LR : represents the difference between the two pulses before and after the left rear wheel, Δ _RR : represents the difference between the two pulses before and after the right rear wheel, ω can be expressed as Driving azimuth angle change The quantitative quantity may be understood as angular velocity. When |θ _i |＜2*θ _threshold , it can be considered that the vehicle is traveling straight ahead.

It should be noted that due to θ _i =θ _i-1 +ω·Δt, so the angle change value between the two frames is ω·Δt. If the vehicle is traveling straight and the angle does not change, then Δ _LR =Δ _RR , ω=0, if When the vehicle is not traveling straight, the vehicle angle changes, then the minimum value of Δ _LR - Δ _RR is 1, then ω = 1/W _R , then the angle change value is Δt/W _R , so the threshold is set is θ _threshold =Δt/W _R . Since Δ _LR - Δ _RR is an integer value, in order to express |θ _i |＜=θ _threshold , |θ _i |＜2*θ _threshold can be expressed as the pulse of the left and right rear wheels when the vehicle is traveling straight. The number can be used to calculate the initial phase difference.

For example, the initial phase difference can be expressed as ΔLR ₀ , and the initial phase difference can be calculated by the following formula

S120. Modify the first left rear wheel pulse number or the first right rear wheel pulse number at the current time based on the initial phase difference.

In this embodiment, the initial phase difference can be determined. If it is valid, the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment can be corrected based on the initial phase difference, thereby reducing the angle error.

Optionally, the method of correcting the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference may be: obtaining the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment. wheel pulse number; determine the difference between the first left rear wheel pulse number and the second left rear wheel pulse number, and determine it as the left rear wheel pulse difference; determine the first right rear wheel pulse number and the second right rear wheel pulse number. The difference is determined as the right rear wheel pulse difference; if the initial phase difference falls into the first set interval, the first left rear wheel pulse number is corrected according to the right rear wheel pulse difference; if the initial phase difference falls into the second set interval within a certain interval, based on the left rear wheel pulse difference Correct the first right rear wheel pulse number.

The first set interval can be expressed as (0,1), and the second set interval can be expressed as (-1,0). In this embodiment, it is possible to determine whether the initial phase difference is valid. If the initial phase difference is within the first set interval or the second set interval, the initial phase difference can be considered to be valid. Specifically, if the initial phase difference falls within the first set interval, it means that the first left rear wheel pulse number at the current moment needs to be corrected, and the first left rear wheel pulse number can be corrected based on the right rear wheel pulse difference. . If the initial phase difference falls within the second set interval, it means that the first right rear wheel pulse number at the current moment needs to be corrected, and the first right rear wheel pulse number can be corrected based on the left rear wheel pulse difference.

Optionally, the method of correcting the first left rear wheel pulse number based on the right rear wheel pulse difference may be: determining whether the current vehicle is going straight, and if so, then calculating the second left rear wheel pulse number and the right rear wheel pulse difference. The values are accumulated to obtain the corrected first left rear wheel pulse number.

Specifically, it can be determined according to the driving angle whether the current vehicle is going straight. If the vehicle is going straight, the corrected first left rear wheel pulse number can be expressed as the difference between the second left rear wheel pulse number and the right rear wheel pulse. The values to be added. For example, _Li = Li _-1 + Δ _RR , Δ _RR : represents the difference between the two pulses of the right rear wheel, which can be understood as the difference between the first right rear wheel pulse number and the second right rear wheel pulse number, _Li is expressed as the first left rear wheel pulse number, and L _i-1 is expressed as the second left rear wheel pulse number. Of course, if the vehicle is not traveling straight, the first left rear wheel pulse number can be obtained directly, or the first left rear wheel pulse number can be expressed as the second left rear wheel pulse number and the left rear wheel pulse difference. added value. For example, _Li = Li _-1 + Δ _LR , Δ _LR : represents the difference between the two pulses before and after the left rear wheel, which can be understood as the difference between the first left rear wheel pulse number and the second left rear wheel pulse number.

Optionally, the method of correcting the first right rear wheel pulse number based on the left rear wheel pulse difference may be: determining whether the current vehicle is going straight, and if it is going straight, then calculating the second right rear wheel pulse number and the left rear wheel pulse difference. The values are accumulated to obtain the corrected first right rear wheel pulse number.

Specifically, it can be determined according to the driving angle whether the current vehicle is going straight. If the vehicle is going straight, the corrected first right rear wheel pulse number can be expressed as the difference between the second right rear wheel pulse number and the left rear wheel pulse. The values to be added. For example, R _i =R _i-1 + Δ _LR , Δ _LR : represents the difference between the two pulses before and after the left rear wheel, which can be understood as the difference between the first left rear wheel pulse number and the second left rear wheel pulse number. R _i represents the first right rear wheel pulse number, and R _i-1 represents the second right rear wheel pulse number. Of course, if the vehicle is not traveling straight, the first right rear wheel pulse number can be obtained directly, or the first right rear wheel pulse number can be expressed as the second right rear wheel pulse number and the right rear wheel pulse difference. added value. For example, R _i =R _i-1 + Δ _RR , Δ _RR : represents the difference between the two pulses of the right rear wheel, which can be understood as the difference between the first right rear wheel pulse number and the second right rear wheel pulse number.

Optionally, the method of determining whether the current vehicle is going straight may be: determining the driving angle at the current moment based on the left rear wheel pulse difference and the right rear wheel pulse difference; and determining whether the current vehicle is going straight based on the driving angle.

In this embodiment, the driving angle at the current moment may be determined using a method based on the initial driving angle and a set threshold to determine whether the vehicle is traveling straight. That is, if |traveling angle|<2*set threshold, it means that the vehicle is traveling straight. The specific details will not be repeated.

S130. Predict the position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number.

Among them, the navigation information includes driving angle and position coordinates. In this embodiment, the position information of the current vehicle at the current moment can be predicted based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number, so that the initial phase difference can be calculated in real time while the vehicle is driving. Updating the position information at the current moment can not only improve the accuracy of position prediction, but also has strong practicality.

Optionally, the method of predicting the position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number may be: based on the corrected first left rear wheel pulse number and The first right rear wheel pulse number determines the driving distance and azimuth angle change; determines the corrected driving angle at the current moment based on the azimuth angle change and the driving angle at the previous moment; based on the driving distance, azimuth angle change, and the previous moment's driving angle The driving angle and the position coordinates at the previous moment determine the position coordinates at the current moment.

Specifically, when the vehicle is traveling forward, the left rear wheel pulse difference and the right rear wheel pulse difference can be recalculated based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number, so that the left rear wheel pulse difference and the right rear wheel pulse difference can be recalculated based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number. Calculate the driving distance and azimuth angle change formulas to obtain the driving distance and azimuth angle change. The product value (i.e., the angle change value) can be calculated based on the azimuth angle change and the time increment between two frames, and then the value obtained by adding the driving angle and the angle change value at the previous moment is used as the corrected driving angle at the current moment. . The position coordinates at the current moment can be determined based on the driving distance, the azimuth angle change, the driving angle at the previous moment and the position coordinates at the previous moment. For example, as shown in Figure 3, Δ LR and Δ _RR can be recalculated based on the corrected first left rear wheel pulse number _Li and _the first right rear wheel pulse number _Ri , Then drive distance according to the formula and the formula azimuth angle Calculate the driving distance Δ and the azimuth angle change ω. The corrected driving angle at the current moment The position coordinates at the current moment can be expressed by x _i and y _i . Specifically,

For example, the initial phase difference can be calculated according to the following steps to correct the left and right rear wheel pulse numbers based on the initial phase difference.

Step 1: Based on the initial driving angle, determine whether the vehicle is traveling straight.

It can be judged according to the following formula: θ _threshold =Δt/W _R ; θ _i represents the initial driving angle at the current moment, and θ _threshold represents the set threshold. If |θ _i | <2*θ _threshold , it represents that the current vehicle is traveling straight.

Step 2: Obtain the number of left rear wheel pulses and the number of right rear wheel pulses that meet the conditions of step 1 above according to the set duration or set frame.

The set duration can be 3-4 seconds, and the set frame corresponding to the set duration can be 80-100 frames.

Step 3: According to the initial phase difference formula Calculate the initial phase difference ΔLR ₀ .

Step 4: Determine whether ΔLR ₀ is valid. If -1<ΔLR ₀ <1, ΔLR ₀ is considered valid.

Step 5: If ΔLR ₀ >0, correct the first left rear wheel pulse number; if ΔLR ₀ <0, correct the first right rear wheel pulse number.

If ΔLR ₀ >0, determine whether the current vehicle is going straight. If it is going straight, accumulate the difference between the second left rear wheel pulse number and the right rear wheel pulse to obtain the corrected first left rear wheel pulse number. If the vehicle is not traveling straight, the first left rear wheel pulse number can be obtained directly, or the first left rear wheel pulse number can be expressed as the sum of the second left rear wheel pulse number and the left rear wheel pulse difference. value.

If ΔLR ₀ <0, determine whether the current vehicle is going straight. If it is going straight, accumulate the difference between the second right rear wheel pulse number and the left rear wheel pulse to obtain the corrected first right rear wheel pulse number. If the vehicle is In the non-straight-moving state, the first right rear wheel pulse number can be obtained directly, or the first right rear wheel pulse number can be expressed as a value that adds the second right rear wheel pulse number and the right rear wheel pulse difference.

For example, flight position prediction can be achieved according to the following steps. The specific steps are as follows:

Step 1: Start the vehicle.

Step 2: Obtain the pulse number of the left rear wheel and the right rear wheel.

Step 3: Update the current position information without using the initial phase difference method.

Step 4: Obtain the pulse number of the left rear wheel and the right rear wheel when the vehicle is traveling straight, and obtain the pulse number of the left rear wheel and the right rear wheel of the set frame or set duration.

Step 5: Calculate the initial phase difference.

Step 6: Determine whether the initial phase difference is valid, and update the position information at the current moment based on the valid initial phase difference.

The technical solution of the embodiment of the present application determines the initial phase difference of the current vehicle; corrects the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference; based on the corrected first left rear wheel pulse number The number of pulses and the number of first right rear wheel pulses predict the position information of the current vehicle at the current moment. The above technical solution corrects the left rear wheel pulse number and the right rear wheel pulse number through the initial phase difference, and predicts the current moment position information based on the corrected left rear wheel pulse number and right rear wheel pulse number. Compared with related technologies, it can Improve flight position prediction accuracy. In addition, the technical solution provided by the embodiments of the present application does not need to rely on other reference sensors. When other positioning sensors are interfered, it can still provide reliable position information, has strong practicability, and also provides a basis for subsequent multi-sensor positioning algorithms. The accuracy and applicability are guaranteed.

Figure 4 is a schematic structural diagram of a flight position prediction device provided by an embodiment of the present application. As shown in Figure 4, the device includes: an initial phase difference determination module 401, a correction module 402 and a prediction module 403.

The initial phase difference determination module is used to determine the initial phase difference of the current vehicle;

A correction module configured to correct the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference;

A prediction module configured to predict the position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number.

The technical solution of the embodiment of the present application determines the initial phase difference of the current vehicle through the initial phase difference determination module; and uses the correction module to correct the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference; The prediction module predicts the position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number. The above technical solution corrects the left rear wheel pulse number and the right rear wheel pulse number through the initial phase difference, based on the corrected left rear wheel pulse number The scheme of predicting the current moment's dead position information based on the pulse number of the right rear wheel can improve the dead position prediction accuracy compared with related technologies.

Optionally, the initial phase difference determination module is specifically used to: control the current vehicle to drive in a straight direction from standstill to start for a set duration; obtain the left rear wheel pulse number and right rear wheel pulse number corresponding to multiple frames within the set duration. The number of wheel pulses; calculate the difference in pulse numbers between the left rear wheel and the right rear wheel in each frame; average the difference in pulse numbers between the left rear wheel and the right rear wheel in multiple frames to obtain the initial phase difference of the current vehicle .

Optionally, the correction module is specifically configured to: obtain the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment; determine the first left rear wheel pulse number and the second left rear wheel pulse. The difference between the number of pulses is determined as the left rear wheel pulse difference; the difference between the first right rear wheel pulse number and the second right rear wheel pulse number is determined as the right rear wheel pulse difference; if the If the initial phase difference falls into the first set interval, the first left rear wheel pulse number is corrected according to the right rear wheel pulse difference; if the initial phase difference falls into the second set interval, the first left rear wheel pulse number is corrected according to the right rear wheel pulse difference value. The left rear wheel pulse difference corrects the first right rear wheel pulse number.

Optionally, the correction module is also used to determine whether the current vehicle is going straight. If it is going straight, then accumulate the difference between the second left rear wheel pulse number and the right rear wheel pulse to obtain the corrected first Left rear wheel pulse number.

Optionally, the correction module is also used to determine whether the current vehicle is going straight. If it is going straight, then accumulate the difference between the second right rear wheel pulse number and the left rear wheel pulse to obtain the corrected first Right rear wheel pulse number.

Optionally, the correction module is also configured to: determine the driving angle at the current moment based on the left rear wheel pulse difference and the right rear wheel pulse difference; and determine whether the current vehicle is going straight based on the driving angle.

Optionally, the flight position information includes driving angle and position coordinates; optionally, the prediction module is specifically configured to: determine the driving distance based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number. and the azimuth angle change; determine the corrected driving angle at the current moment based on the azimuth angle change and the driving angle at the previous moment; based on the driving distance, the azimuth angle change, the driving angle at the previous moment and the previous moment The position coordinates determine the position coordinates at the current moment.

The flight position prediction device provided by the embodiments of this application can execute the flight position prediction method provided by any embodiment of this application, and has functional modules and beneficial effects corresponding to the execution method.

FIG. 5 shows a schematic structural diagram of an electronic device 10 that can be used to implement embodiments of the present application. Electronic devices are intended to mean various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and others suitable computer. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

As shown in Figure 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory (Random Access Memory, RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can be loaded into the random access memory (RAM) according to the computer program stored in the read-only memory (ROM) 12 or from the storage unit 18. A computer program in RAM) 13 to perform various appropriate actions and processes. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunications networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), various dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, various running Machine learning model algorithm processor, digital signal processor (Digital Signal Processor, DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as method position prediction.

In some embodiments, the method dead position prediction may be implemented as a computer program that is tangibly embodied in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19 . When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the dead prediction method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform method position prediction in any other suitable manner (eg, by means of firmware).

Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Product (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or they implemented in a combination. These various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor The processor, which may be a special purpose or general purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. An output device.

Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (Erasable Programmable Read-Only Memory, EPROM) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any of the above Suitable combination.

To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having a display device (eg, a cathode ray tube (CRT) or a liquid crystal) for displaying information to the user. (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (such as a mouse or trackball) through which the user can The keyboard and the pointing device are used to provide input to the electronic device. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.

The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and technologies described herein), or including such backend components, middleware components, or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.

Computing systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. The relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other. The server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.

It should be understood that various forms of the process shown above may be used, with steps reordered, added or deleted. For example, each step described in this application can be executed in parallel, sequentially, or in a different order. As long as the desired results of the technical solution of this application can be achieved, there is no limitation here.

Claims (10)

1. A flight position prediction method, including:

   Determine the initial phase difference of the current vehicle;

   Modify the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference;

   The position information of the current vehicle at the current moment is predicted based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number.
2. The method according to claim 1, wherein determining the initial phase difference of the current vehicle includes:

   Control the current vehicle to drive in a straight direction for a set duration from stationary to starting;

   Obtain the number of left rear wheel pulses and the number of right rear wheel pulses corresponding to multiple frames within the set time period;

   Calculate the difference between the pulse numbers of the left rear wheel and the right rear wheel in each frame;

   The difference in pulse numbers of the left rear wheel and the right rear wheel in multiple frames is averaged to obtain the initial phase difference of the current vehicle.
3. The method of claim 1, wherein correcting the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference includes:

   Obtain the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment;

   Determine the difference between the first left rear wheel pulse number and the second left rear wheel pulse number, and determine it as the left rear wheel pulse difference;

   Determine the difference between the first right rear wheel pulse number and the second right rear wheel pulse number, and determine it as the right rear wheel pulse difference;

   If the initial phase difference falls within the first set interval, the first left rear wheel pulse number is corrected according to the right rear wheel pulse difference;

   If the initial phase difference falls within the second set interval, the first right rear wheel pulse number is corrected according to the left rear wheel pulse difference.
4. The method of claim 3, wherein correcting the first left rear wheel pulse number according to the right rear wheel pulse difference includes:

   It is determined whether the current vehicle is going straight. If it is going straight, the difference between the second left rear wheel pulse number and the right rear wheel pulse is accumulated to obtain the corrected first left rear wheel pulse number.
5. The method of claim 3, wherein correcting the first right rear wheel pulse number according to the left rear wheel pulse difference includes:

   It is determined whether the current vehicle is going straight. If it is going straight, the difference between the second right rear wheel pulse number and the left rear wheel pulse is accumulated to obtain the corrected first right rear wheel pulse number.
6. The method according to claim 4 or 5, wherein it is determined whether the current vehicle is going straight, include:

   Determine the driving angle at the current moment based on the left rear wheel pulse difference and the right rear wheel pulse difference;

   Determine whether the current vehicle is going straight based on the driving angle.
7. The method according to claim 1, wherein the position information includes a driving angle and a position coordinate; and the current vehicle is predicted based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number. The flight position information at the current moment includes:

   Determine the travel distance and azimuth angle change based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number;

   Determine the corrected driving angle at the current moment based on the azimuth angle change and the driving angle at the previous moment;

   The position coordinates at the current moment are determined based on the driving distance, the azimuth angle change, the driving angle at the previous moment, and the position coordinates at the previous moment.
8. A flight position prediction device, including:

   The initial phase difference determination module is configured to determine the initial phase difference of the current vehicle;

   A correction module configured to correct the first left rear wheel pulse number or the first right rear wheel pulse number at the current moment based on the initial phase difference;

   A prediction module configured to predict the position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number.
9. An electronic device including:

   at least one processor; and

   a memory communicatively connected to the at least one processor; wherein,

   The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7 A flight position prediction method.
10. A computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement a flight position prediction method according to any one of claims 1-7 when executed by a processor. .