WO2024007569A1 - Procédé et appareil d'estime, dispositif et support - Google Patents

Procédé et appareil d'estime, dispositif et support Download PDF

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Publication number
WO2024007569A1
WO2024007569A1 PCT/CN2023/072286 CN2023072286W WO2024007569A1 WO 2024007569 A1 WO2024007569 A1 WO 2024007569A1 CN 2023072286 W CN2023072286 W CN 2023072286W WO 2024007569 A1 WO2024007569 A1 WO 2024007569A1
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WIPO (PCT)
Prior art keywords
rear wheel
wheel pulse
pulse number
right rear
left rear
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PCT/CN2023/072286
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English (en)
Chinese (zh)
Inventor
周同同
季丹
Original Assignee
南京市德赛西威汽车电子有限公司
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Application filed by 南京市德赛西威汽车电子有限公司 filed Critical 南京市德赛西威汽车电子有限公司
Publication of WO2024007569A1 publication Critical patent/WO2024007569A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • This application relates to the field of vehicle technology, for example, to a position prediction method, device, equipment and medium.
  • Dead-Reckoning 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.
  • ABS anti-lock braking system
  • 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.
  • the main processing method is the differential mileage algorithm, and the input can be the pulse data of the front and rear four wheels.
  • the input can be the pulse data of the front and rear four wheels.
  • This application provides a dead position prediction method, device, equipment and medium to improve the dead position prediction accuracy.
  • a flight position prediction method including:
  • 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.
  • 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 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.
  • an electronic device including:
  • 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.
  • a 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.
  • 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.
  • FIG. 1 a schematic diagram of the differential mileage algorithm principle shown in Figure 1 is given.
  • the pulse input data of the rear two wheels non-driving wheels
  • 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.
  • the output pulses are LR k and RR k .
  • the movement distance of the left rear wheel is ⁇ LR
  • the movement distance of the right rear wheel is ⁇ RR .
  • 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.
  • the motion trajectory during this short period of time can be regarded as a circle with O as the center.
  • the estimation formulas of the car’s driving distance ⁇ and the driving azimuth angle change ⁇ are respectively:
  • W R is the length of the rear axle.
  • FIG 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.
  • the flight position prediction device can be configured in the server. As shown in Figure 2, the method includes:
  • the gear trigger sensor on the wheel can be used to count and output the corresponding number of pulses.
  • 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.
  • the wheel speed pulse values of the left and right rear wheels are L0, R0, 0 ⁇ L0 ⁇ 1, 0 ⁇ R0 ⁇ 1, within one pulse.
  • 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.
  • the truncation errors each time are ⁇ L i and ⁇ R i , which are also 0 ⁇ L i ⁇ 1 and 0 ⁇ R i ⁇ 1 within one pulse.
  • L0-R0 (L i -R i )+( ⁇ L i - ⁇ R i )
  • 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.
  • 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.
  • the set time which may be 3 to 4 seconds, for example.
  • this embodiment does not limit the specific value of multiple frames, for example, it can be 80 to 100 frames.
  • 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.
  • the initial driving angle is denoted as ⁇
  • the set threshold is denoted as ⁇ threshold .
  • ⁇ threshold ⁇ t/W R .
  • i can represent a blocked moment or different frames
  • ⁇ t represents the time difference between two frames
  • ⁇ LR represents the difference between the two pulses before and after the left rear wheel
  • ⁇ RR represents the difference between the two pulses before and after the right rear wheel
  • ⁇ can be expressed as Driving azimuth angle change
  • the quantitative quantity may be understood as angular velocity.
  • the initial phase difference can be expressed as ⁇ LR 0 , and the initial phase difference can be calculated by the following formula
  • 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.
  • 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)
  • the second set interval can be expressed as (-1,0).
  • 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.
  • 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 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.
  • Li Li -1 + ⁇ LR , ⁇ 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.
  • 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.
  • 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.
  • R i represents the first right rear wheel pulse number
  • R i-1 represents the second right rear wheel pulse number.
  • 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.
  • R i R i-1 + ⁇ RR , ⁇ 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.
  • 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.
  • 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
  • the navigation information includes driving angle and position coordinates.
  • 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.
  • 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.
  • 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.
  • the product value i.e., the angle change value
  • 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, ⁇ LR and ⁇ 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 ⁇ and the azimuth angle change ⁇ .
  • 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,
  • 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.
  • 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 ⁇ LR 0 .
  • Step 4 Determine whether ⁇ LR 0 is valid. If -1 ⁇ LR 0 ⁇ 1, ⁇ LR 0 is considered valid.
  • Step 5 If ⁇ LR 0 >0, correct the first left rear wheel pulse number; if ⁇ LR 0 ⁇ 0, correct the first right rear wheel pulse number.
  • ⁇ LR 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.
  • ⁇ LR 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the I/O interface 15 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.
  • 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 .
  • 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 .
  • processor 11 may be configured to perform method position prediction in any other suitable manner (eg, by means of firmware).
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSP Application Specific Standard Product
  • SOC System on Chip
  • CPLD Complex Programmable Logic Device
  • 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 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 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.
  • 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.
  • 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.
  • the computer-readable storage medium may be a machine-readable signal medium.
  • 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.
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EPROM erasable programmable Read-Only Memory
  • flash memory optical fiber
  • portable compact disk read-only memory Compact Disc Read-Only Memory
  • CD-ROM Compact Disc Read-Only Memory
  • magnetic storage device or any of the above Suitable combination.
  • 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.
  • a display device eg, a cathode ray tube (CRT) or a liquid crystal
  • LCD monitor Liquid Crystal Display, LCD monitor
  • keyboard and pointing device such as a mouse or trackball
  • 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.
  • VPN virtual private server

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Abstract

L'invention concerne un procédé et un appareil d'estime, un dispositif électronique et un support de stockage lisible par ordinateur. Le procédé consiste à : déterminer une différence de phase initiale d'un véhicule actuel (S110) ; corriger, sur la base de la différence de phase initiale, un premier comptage d'impulsions de roue arrière gauche ou un premier comptage d'impulsions de roue arrière droit au moment actuel (S120) ; et prédire des informations d'estime du véhicule actuel au moment actuel sur la base du premier comptage d'impulsions de roue arrière gauche corrigé ou du premier comptage d'impulsions de roue arrière droit (S130).
PCT/CN2023/072286 2022-07-04 2023-01-16 Procédé et appareil d'estime, dispositif et support WO2024007569A1 (fr)

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JP2003207520A (ja) * 2002-01-16 2003-07-25 Nissan Motor Co Ltd 車輪速パルス補正装置および方法
JP2012081905A (ja) * 2010-10-13 2012-04-26 Equos Research Co Ltd 走行制御装置
JP2015075337A (ja) * 2013-10-04 2015-04-20 本田技研工業株式会社 移動体位置算出装置及び方法
CN110709302A (zh) * 2017-06-13 2020-01-17 日立汽车系统株式会社 车辆控制装置
CN111780756A (zh) * 2020-07-20 2020-10-16 北京百度网讯科技有限公司 车辆航位推算方法、装置、设备以及存储介质
US20210078586A1 (en) * 2018-03-28 2021-03-18 Hitachi Automotive Systems, Ltd. Vehicle control device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5402365A (en) * 1992-10-28 1995-03-28 Motorola, Inc. Differential odometer dynamic calibration method and apparatus therefor
JP2003207520A (ja) * 2002-01-16 2003-07-25 Nissan Motor Co Ltd 車輪速パルス補正装置および方法
JP2012081905A (ja) * 2010-10-13 2012-04-26 Equos Research Co Ltd 走行制御装置
JP2015075337A (ja) * 2013-10-04 2015-04-20 本田技研工業株式会社 移動体位置算出装置及び方法
CN110709302A (zh) * 2017-06-13 2020-01-17 日立汽车系统株式会社 车辆控制装置
US20210078586A1 (en) * 2018-03-28 2021-03-18 Hitachi Automotive Systems, Ltd. Vehicle control device
CN111780756A (zh) * 2020-07-20 2020-10-16 北京百度网讯科技有限公司 车辆航位推算方法、装置、设备以及存储介质

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