CN115752426A - Navigation position prediction method, device, equipment and medium - Google Patents
Navigation position prediction method, device, equipment and medium Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
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Abstract
The invention discloses a method, a device, equipment and a medium for predicting a navigation position. The method comprises the following steps: determining an initial phase difference of a current vehicle; correcting the first left rear wheel pulse number or the first right rear wheel pulse number of the current moment based on the initial phase difference; and predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number. According to the technical scheme, the pulse number of the left rear wheel and the pulse number of the right rear wheel are corrected through the initial phase difference, and the current time navigation position information is predicted based on the corrected pulse number of the left rear wheel and the corrected pulse number of the right rear wheel.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method, a device, equipment and a medium for predicting a navigation position.
Background
The Dead-Reckoning (DR) is to calculate the position of the object at the current time according to the current moving heading and the speed of the vehicle, starting from the known position of the object at the last time, and so on. With the increasing popularization of the application of the car navigation System and the gradual standard configuration of an Anti-lock Braking System (ABS) in various car models, the ABS wheel speed sensor is used as a dead reckoning sensor, so that resources can be fully utilized, and the production cost of the car navigation System can be reduced.
The main processing method at present is a difference mileage algorithm, and input can adopt pulse data of front and rear four wheels. However, the DR calculated by this method has a certain angle error, which affects the accuracy of the entire travel track.
Disclosure of Invention
The invention provides a method, a device, equipment and a medium for predicting a navigation position, which are used for improving the accuracy of the navigation position prediction.
According to an aspect of the present invention, there is provided a dead reckoning method, including:
determining an initial phase difference of a current vehicle;
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;
and predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
According to another aspect of the present invention, there is provided a dead reckoning device, comprising:
the initial phase difference determining module is used for determining the initial phase difference of the current vehicle;
the correction module is used for correcting the first left rear wheel pulse number or the first right rear wheel pulse number of the current moment based on the initial phase difference;
and the prediction module is used for predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of dead reckoning as described in any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a dead reckoning method according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the initial phase difference of the current vehicle is determined; correcting the first left rear wheel pulse number or the first right rear wheel pulse number of the current moment based on the initial phase difference; and predicting the current 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. According to the technical scheme, the pulse number of the left rear wheel and the pulse number of the right rear wheel are corrected through the initial phase difference, and the current time navigation position information is predicted based on the corrected pulse number of the left rear wheel and the corrected pulse number of the right rear wheel.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a differential mileage algorithm in the prior art;
FIG. 2 is a flowchart of a method for dead reckoning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an implementation of a dead-reckoning method according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an apparatus for dead reckoning according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing the dead reckoning method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a schematic diagram of the principle of the differential mileage algorithm shown in fig. 1 is given. The pulse input data of the latter two wheels (non-driving wheels) is taken as an example. As shown in FIG. 1, the output pulse numbers of the left and right wheels after the time k-1 of the vehicle are LR k-1 ,RR k-1 The output at time k is LR k ,RR k The distance of movement of the left rear wheel is Δ LR The moving distance of the right rear wheel is delta RR . The track of the vehicle in the period is represented by the track of a point in the rear axle of the vehicle, and the track is shown from M k-1 Go to M k The motion track in this short period of time can be regarded as a circle with O as the center and R as the radiusThe circular arc, and the estimation formula of the vehicle driving distance Δ and the driving azimuth angle variation ω are respectively:
wherein W R Is the rear axle length.
Fig. 2 is a flowchart of a dead-reckoning method according to an embodiment of the present invention, where the embodiment is applicable to a dead-reckoning situation, and the method may be executed by a dead-reckoning device, where the dead-reckoning device may be implemented in the form of hardware and/or software, and the dead-reckoning device may be configured in a server. As shown in fig. 2, the method includes:
and S110, determining the initial phase difference of the current vehicle.
When the automobile runs, the gear on the wheel triggers the sensor to count, and a corresponding pulse number is output. Wherein the number of pulses is an accumulated value of one integer. Because of the distance between the two gears, the rear left and rear right wheels may be located between the two gears when the vehicle moves from rest to start. For example, a count of 1 may be made when a first gear slides past the sensor, but the count or number of pulses of the sensor is 1 before a second gear slides past the sensor. Therefore, the initial phase can be understood as the situation where the rear left and rear right wheels may be in the middle of two gears from rest to initial movement of the vehicle. And the initial phase difference can be understood as the difference between the pulse numbers of the two wheels at the back left and the back right of the vehicle when the vehicle is at rest, or the average value of the pulse number differences of the two wheels at the back left and the back right of a plurality of frames.
For example, assuming that the wheel speed pulse values of the rear left and rear right wheels are L0, R0,0 ≦ L0 when the vehicle is stationary<1,0≤R0<1, within one pulse. The initial straight-ahead driving, the driving paths of the left and right wheels are consistent and are marked as LR i Due to the presence of truncation, itThe middle cut-off can be understood as a value between 0 and 1, and the output is a value of 0, so that the wheel speed pulse output value is L i ,R i And i represents different time instants. Assume a truncation error of δ L at each time i ,δR i Within one pulse, i.e. 0. Ltoreq. Delta.L i <1,0≤δR i <1。
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 and the accumulation of the pulse numbers of a plurality of frames,
close to 0, then respectively outputting L through two pulses of the left rear wheel and the right rear wheel of the multiframe i ,R i Can be represented by formula
The initial phase difference is obtained, and can be used for calculating DR.
Optionally, in practical applications, the manner of determining the initial phase difference of the current vehicle may be: controlling the current vehicle to run in a straight-running mode from rest for a set time length; acquiring the pulse number of a left rear wheel and the pulse number of a right rear wheel which are respectively corresponding to multiple frames in a set time length; calculating the difference value of the pulse numbers of the left wheel and the right wheel of each frame; and averaging the pulse number difference values of the left wheel and the right wheel of multiple frames to obtain the initial phase difference of the current vehicle.
In this embodiment, the set time period is not limited, and may be, for example, 3 to 4 seconds. Also, the present embodiment does not limit the specific value of the multiframe, and may be, for example, 80 to 100 frames. Specifically, control is performedThe method comprises the steps of obtaining the pulse number of a left rear wheel and the pulse number of a right rear wheel of a current vehicle in a straight-ahead state based on an initial driving angle and a set threshold value, obtaining the pulse numbers of a plurality of frames of the left rear wheel and the right rear wheel within a set time length, calculating the pulse number difference value of the left rear wheel and the right rear wheel of each frame, and then averaging the pulse number difference values of the left rear wheel and the right rear wheel of the plurality of frames to obtain an initial phase difference. Illustratively, the initial travel angle is denoted as θ, and the set threshold value is denoted as θ threshold 。
θ threshold ＝Δt/W R . Where i may represent a dead time or a different frame, Δ t represents the time difference between two frames, Δ LR : representing the difference, Δ, between the front and rear pulses of the left and rear wheels RR : representing the difference between the two pulses before and after the right rear wheel, ω can be expressed as the change of the driving azimuth angle or can be understood as the angular velocity. When theta i |<2*θ threshold It can be considered that the vehicle travels in a straight traveling state.
It should be noted that, because
θ i ＝θ i-1 Since + ω · Δ t, the angle change value between two frames is ω · Δ t, and if the angle does not change while the vehicle is traveling straight, Δ t LR ＝Δ RR ω =0, Δ if the vehicle is in a state of non-straight running, and there is a change in the angle of the vehicle LR -Δ RR Is 1, then ω =1/W R If the angle change value is Δ t/W R Therefore, the set threshold is set to θ threshold ＝Δt/W R . Due to Delta LR -Δ RR Is an integer value, to express | θ i |<＝θ threshold May be given by i |<2*θ threshold The pulse numbers of the left and right rear wheels in the straight running state of the vehicle can be used for calculating the initial phase difference.
Illustratively, the initial phase difference may be expressed as Δ LR 0 Then the initial phase difference can be calculated by the following formula
And S120, 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.
In this embodiment, the initial phase difference may be determined, and if valid, the first left rear wheel pulse number or the first right rear wheel pulse number at the current time may be corrected based on the initial phase difference, so that the angle error may be reduced.
Optionally, the method for correcting the first left rear wheel pulse number or the first right rear wheel pulse number at the current time based on the initial difference may be: acquiring the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment; determining the difference value of the first left rear wheel pulse number and the second left rear wheel pulse number, and determining the difference value as a left rear wheel pulse difference value; determining the difference value of the first right rear wheel pulse number and the second right rear wheel pulse number, and determining the difference value as a right rear wheel pulse difference value; if the initial phase difference falls into a first set interval, correcting the first left rear wheel pulse number according to the right rear wheel pulse difference value; and if the initial phase difference falls into a second set interval, correcting the number of the first and the right rear wheel pulses according to the left rear wheel pulse difference value.
The first setting interval may be represented as (0, 1), and the second setting interval may be represented as (-1, 0). In this embodiment, whether the initial phase difference is valid or not may be determined, and if the initial phase difference is in the first setting interval or the second setting interval, the initial phase difference may be considered to be valid. Specifically, if the initial phase difference falls within the first setting interval, it indicates that the first left rear wheel pulse number at the current time needs to be corrected, and the first left rear wheel pulse number may be corrected based on the right rear wheel pulse difference value. If the initial phase difference falls into the second set interval, the first right rear wheel pulse number at the current time 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 for correcting the first left rear wheel pulse number according to the right rear wheel pulse difference value may be: and judging whether the current vehicle moves straight or not, if so, accumulating the second left rear wheel pulse number and the right rear wheel pulse difference value to obtain the corrected first left rear wheel pulse number.
Specifically, whether the current vehicle is moving straight may be determined according to the driving angle, and if the vehicle is in a state of moving straight, the corrected first left rear wheel pulse number may be represented as a value obtained by adding the second left rear wheel pulse number to the right rear wheel pulse difference. For example, L i ＝L i-1 +Δ RR ，Δ RR : the difference between the front pulse and the rear pulse of the right rear wheel is expressed and can be understood as the difference between the first right rear wheel pulse number and the second right rear wheel pulse number, L i Expressed as the first left rear wheel pulse count, L i-1 Indicated as the second left rear wheel pulse number. Of course, if the vehicle is in a non-straight-ahead state, the first left rear wheel pulse number may be directly obtained, or the first left rear wheel pulse number may be represented as a value obtained by adding the second left rear wheel pulse number and the left rear wheel pulse difference. For example, L i ＝L i-1 +Δ LR ，Δ LR : the difference between the front and rear pulses of the left rear wheel is expressed, and 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 for correcting the first right rear wheel pulse number according to the left rear wheel pulse difference value may be: and judging whether the current vehicle moves straight, if so, accumulating the pulse number of the second right rear wheel and the pulse difference value of the left rear wheel to obtain the pulse number of the first right rear wheel after correction.
Specifically, whether the current vehicle is moving straight may be determined according to the driving angle, and if the vehicle is in a state of moving straight, the corrected first right rear wheel pulse number may be represented as a value obtained by adding the second right rear wheel pulse number and the left rear wheel pulse difference. For example, R i ＝R i-1 +Δ LR ，Δ LR : the difference between the front and rear pulses of the left rear wheel is expressed, and can be understood as the difference between the first left rear wheel pulse number and the second left rear wheel pulse number. R is i Expressed as the first rear right wheel pulse number, R i-1 Indicated as the second right rear wheel pulse number. Of course, if the vehicle is not traveling straight,the first right rear wheel pulse number may be directly obtained, or may be represented as a value obtained by adding the second right rear wheel pulse number and the right rear wheel pulse difference value. For example, R i ＝R i-1 +Δ RR ，Δ RR : the difference between the front and rear pulses of the right rear wheel is represented and can be understood as the difference between the first right rear wheel pulse number and the second right rear wheel pulse number.
Optionally, the manner of determining whether the current vehicle is moving straight may be: determining the driving angle at the current moment according to the pulse difference value of the left rear wheel and the pulse difference value of the right rear wheel; and judging whether the current vehicle moves straight or not according to the driving angle.
In the present embodiment, determining the travel angle at the present time may be performed using a method based on the initial travel angle and a set threshold value to determine whether the vehicle is in a straight traveling state. That is, if the | travel angle | <2 × sets the threshold value, it indicates that the vehicle is in a straight-ahead state. The details are not repeated.
And S130, predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
The navigation position information comprises a driving angle and position coordinates. According to the method and the device, the current position information of the vehicle at the current moment can be predicted based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number, so that the initial phase difference can be calculated in real time in the running process of the vehicle, the position information at the current moment can be updated in real time, the position prediction precision can be improved, and meanwhile, the method and the device have strong practicability.
Optionally, the mode of predicting the current position information of the vehicle at the current time based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number may be: determining a driving distance and an azimuth angle variation amount based on the corrected first left rear wheel pulse number and first right rear wheel pulse number; determining a driving angle corrected at the current moment based on the azimuth angle variation and the driving angle at the previous moment; and determining the position coordinate of the current moment according to the driving distance, the azimuth angle variation, the driving angle of the previous moment and the position coordinate of the previous moment.
In particular, while the vehicle is movingIn the case of driving, the left rear wheel pulse difference value and the right rear wheel pulse difference value may be recalculated based on the corrected first left rear wheel pulse number and first right rear wheel pulse number, so that calculation may be performed based on a driving distance and azimuth angle variation formula to obtain a driving distance and an azimuth angle variation. The product value (namely the angle change value) can be calculated according to the azimuth angle change quantity and the time increment between two frames, and the value obtained by adding the driving angle at the previous moment and the angle change value is used as the corrected driving angle at the current moment. The position coordinate of the current moment can be determined according to the driving distance, the azimuth angle variation, the driving angle of the previous moment and the position coordinate of the previous moment. For example, as shown in FIG. 3, the first left rear wheel pulse number L may be corrected according to the first left rear wheel pulse number L i And the first right rear wheel pulse number R i Recalculating Δ LR ，Δ RR Then according to the formula, the running distance
And formula azimuth angle variation
The travel distance Δ and the azimuth angle variation ω are calculated. Corrected driving angle at current time
The position coordinate at the present time may be x i And y i It is meant that, in particular,
for example, the initial phase difference may be calculated according to the following steps to correct the number of pulses of the left and right rear wheels according to the initial phase difference.
Step 1: and judging whether the vehicle is in a straight-driving state or not according to the initial driving angle.
The determination can be made according to the following formula: theta.theta. threshold ＝Δt/W R ；
θ i Indicating the initial driving angle, theta, at the present moment threshold Indicating that the threshold is set, if theta i |<2*θ threshold Indicating that the current vehicle is in a straight-ahead state.
And 2, acquiring the left rear wheel pulse number and the right rear wheel pulse number meeting the conditions in the step 1 according to the set time length or the set frame.
The set time length can be 3-4 seconds, and the set frame corresponding to the set time length can be 80-100 frames.
And step 3: according to the initial phase difference formula
Calculating the initial phase difference DeltaLR 0 。
And 4, step 4: determination of Δ LR 0 Whether or not it is effective, if-1<ΔLR 0 <1, considered as Δ LR 0 Is effective.
And 5: if Δ LR 0 >0, correcting the first left rear wheel pulse number if delta LR 0 <0 corrects the first right rear wheel pulse number.
If Δ LR 0 >And 0, judging whether the current vehicle moves straight, if so, accumulating the second left rear wheel pulse number and the right rear wheel pulse difference value to obtain the corrected first left rear wheel pulse number. If the vehicle is in a non-straight-driving state, the first left rear wheel pulse number may be directly obtained, or the first left rear wheel pulse number may be represented as a value obtained by adding the second left rear wheel pulse number and the left rear wheel pulse difference.
If Δ LR 0 <0, judging whether the current vehicle isAnd if the left rear wheel pulse difference value is in the straight running state, accumulating the second right rear wheel pulse number and the left rear wheel pulse difference value to obtain the corrected first right rear wheel pulse number. If the vehicle is not in a straight running state, the first right rear wheel pulse number can be directly acquired, or the first right rear wheel pulse number can be represented as a value obtained by adding the second right rear wheel pulse number and the right rear wheel pulse difference value.
Illustratively, the dead reckoning can be realized according to the following steps:
step 1: the vehicle is started.
Step 2: and acquiring the pulse numbers of the left rear wheel and the right rear wheel.
And 3, step 3: and updating the current navigation position information without a method according to the initial phase difference.
And 4, step 4: the pulse number of the left rear wheel and the right rear wheel of the vehicle in a straight running state is obtained, and the pulse number of the left rear wheel and the right rear wheel of a set frame or a set time length is obtained.
And 5: and calculating the initial phase difference.
Step 6: and judging whether the initial phase difference is effective or not, and updating the current-time navigation position information based on the effective initial phase difference.
According to the technical scheme of the embodiment of the invention, the initial phase difference of the current vehicle is determined; 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; and predicting the current position information of the vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number. According to the technical scheme, the pulse number of the left rear wheel and the pulse number of the right rear wheel are corrected through the initial phase difference, and the current time navigation position information is predicted based on the corrected pulse number of the left rear wheel and the corrected pulse number of the right rear wheel. In addition, the technical scheme provided by the embodiment of the invention does not need to rely on other reference sensors, can still provide reliable navigation information after other positioning sensors are interfered, has stronger practicability, and also provides guarantee for the precision and the applicability of a subsequent multi-sensor positioning algorithm.
Fig. 4 is a schematic structural diagram of a dead reckoning device according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: an initial phase difference determining module 401, a correcting module 402 and a predicting module 403.
The initial phase difference determining module is used for determining the initial phase difference of the current vehicle;
the correction module is used for 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;
and the prediction module is used for predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
According to the technical scheme of the embodiment of the invention, the initial phase difference of the current vehicle is determined by the initial phase difference determining module; correcting the first left rear wheel pulse number or the first right rear wheel pulse number of the current moment through a correction module based on the initial phase difference; and predicting the current position information of the current vehicle at the current moment by a prediction module based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number. According to the technical scheme, the pulse number of the left rear wheel and the pulse number of the right rear wheel are corrected through the initial phase difference, and the current time navigation position information is predicted based on the corrected pulse number of the left rear wheel and the corrected pulse number of the right rear wheel.
Optionally, the initial phase difference determining module is specifically configured to: controlling the current vehicle to run in a straight-running mode for a set time period from rest to start; acquiring the pulse number of the left rear wheel and the pulse number of the right rear wheel which are respectively corresponding to multiple frames in the set time length; calculating the pulse number difference value of the left rear wheel and the right rear wheel of each frame; and calculating the average value of the pulse number difference values of the left rear wheel and the right rear wheel of multiple frames to obtain the initial phase difference of the current vehicle.
Optionally, the modification module is specifically configured to: acquiring the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment; determining the difference value of the first left rear wheel pulse number and the second left rear wheel pulse number, and determining the difference value as a left rear wheel pulse difference value; determining the difference value of the first right rear wheel pulse number and the second right rear wheel pulse number, and determining the difference value as a right rear wheel pulse difference value; if the initial phase difference falls into a first set interval, correcting the first left rear wheel pulse number according to the right rear wheel pulse difference value; and if the initial phase difference falls into a second set interval, correcting the number of the first right rear wheel pulses according to the left rear wheel pulse difference value.
Optionally, the modification module is further configured to: and judging whether the current vehicle is in straight running or not, and if so, accumulating the second left rear wheel pulse number and the right rear wheel pulse difference value to obtain the corrected first left rear wheel pulse number.
Optionally, the modification module is further configured to: and judging whether the current vehicle is in straight running or not, and if so, accumulating the pulse number of the second right rear wheel and the pulse difference value of the left rear wheel to obtain the corrected pulse number of the first right rear wheel.
Optionally, the modification module is further configured to: determining a driving angle at the current moment according to the left rear wheel pulse difference value and the right rear wheel pulse difference value; and judging whether the current vehicle moves straight or not according to the driving angle.
Optionally, the position information includes a driving angle and a position coordinate; optionally, the prediction module is specifically configured to: determining a driving distance and an azimuth angle variation amount based on the corrected first left rear wheel pulse number and the first right rear wheel pulse number; determining a driving angle corrected at the current moment based on the azimuth angle variation and the driving angle at the previous moment; and determining the position coordinate of the current moment according to the driving distance, the azimuth angle variation, the driving angle at the previous moment and the position coordinate at the previous moment.
The navigation position prediction device provided by the embodiment of the invention can execute the navigation position prediction method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
FIG. 5 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 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 (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of 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, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as method dead reckoning.
In some embodiments, the method dead reckoning may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as 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 RAM 13 and executed by processor 11, one or more steps of the method dead reckoning described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method dead-reckoning by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Computer programs for implementing the methods of the present invention can 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, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of dead reckoning, comprising:
determining an initial phase difference of a current vehicle;
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;
and predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
2. The method of claim 1, wherein determining an initial phase difference for a current vehicle comprises:
controlling the current vehicle to run in a straight-running mode for a set time period from rest to start;
acquiring the pulse number of the left rear wheel and the pulse number of the right rear wheel which are respectively corresponding to multiple frames in the set time length;
calculating the pulse number difference value of the left rear wheel and the right rear wheel of each frame;
and calculating the average value of the pulse number difference values of the left rear wheel and the right rear wheel of multiple frames 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 time based on the initial difference comprises:
acquiring the second left rear wheel pulse number and the second right rear wheel pulse number at the previous moment;
determining the difference value of the first left rear wheel pulse number and the second left rear wheel pulse number, and determining the difference value as a left rear wheel pulse difference value;
determining the difference value of the first right rear wheel pulse number and the second right rear wheel pulse number, and determining the difference value as a right rear wheel pulse difference value;
if the initial phase difference falls into a first set interval, correcting the first left rear wheel pulse number according to the right rear wheel pulse difference value;
and if the initial phase difference falls into a second set interval, correcting the number of the first right rear wheel pulses according to the left rear wheel pulse difference value.
4. The method of claim 3, wherein correcting the first left rear wheel pulse number based on the right rear wheel pulse difference value comprises:
and judging whether the current vehicle moves straight or not, if so, accumulating the second left rear wheel pulse number and the right rear wheel pulse difference value to obtain the corrected first left rear wheel pulse number.
5. The method according to claim 3, wherein correcting the first number of right rear wheel pulses according to the left rear wheel pulse difference value comprises:
and judging whether the current vehicle is in straight running or not, and if so, accumulating the pulse number of the second right rear wheel and the pulse difference value of the left rear wheel to obtain the corrected pulse number of the first right rear wheel.
6. The method of claim 4 or 5, wherein determining whether the current vehicle is traveling straight comprises:
determining a driving angle at the current moment according to the left rear wheel pulse difference value and the right rear wheel pulse difference value;
and judging whether the current vehicle moves straight or not according to the running angle.
7. The method of claim 1, wherein the dead reckoning information includes travel angle and position coordinates; predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number, wherein the method comprises the following steps:
determining a driving distance and an azimuth angle variation amount based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number;
determining a driving angle corrected at the current moment based on the azimuth angle variation and the driving angle at the previous moment;
and determining the position coordinate of the current moment according to the driving distance, the azimuth angle variation, the driving angle of the previous moment and the position coordinate of the previous moment.
8. An apparatus for predicting a dead reckoning, comprising:
the initial phase difference determining module is used for determining the initial phase difference of the current vehicle;
the correction module is used for correcting the first left rear wheel pulse number or the first right rear wheel pulse number of the current moment based on the initial phase difference;
and the prediction module is used for predicting the current position information of the current vehicle at the current moment based on the corrected first left rear wheel pulse number and the corrected first right rear wheel pulse number.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of dead reckoning as claimed in any one of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a processor to perform a method of dead reckoning as claimed in any one of claims 1-7 when executed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210781542.1A CN115752426A (en) | 2022-07-04 | 2022-07-04 | Navigation position prediction method, device, equipment and medium |
| PCT/CN2023/072286 WO2024007569A1 (en) | 2022-07-04 | 2023-01-16 | Dead reckoning method and apparatus, device, and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210781542.1A CN115752426A (en) | 2022-07-04 | 2022-07-04 | Navigation position prediction method, device, equipment and medium |
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| Publication Number | Publication Date |
|---|---|
| CN115752426A true CN115752426A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210781542.1A Pending CN115752426A (en) | 2022-07-04 | 2022-07-04 | Navigation position prediction method, device, equipment and medium |
Country Status (2)
| Country | Link |
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| CN (1) | CN115752426A (en) |
| WO (1) | WO2024007569A1 (en) |
Family Cites Families (7)
| 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 (en) * | 2002-01-16 | 2003-07-25 | Nissan Motor Co Ltd | Wheel speed pulse correcting device and method |
| JP2012081905A (en) * | 2010-10-13 | 2012-04-26 | Equos Research Co Ltd | Travel control device |
| JP5865325B2 (en) * | 2013-10-04 | 2016-02-17 | 本田技研工業株式会社 | Moving body position calculating apparatus and method |
| JP6838655B2 (en) * | 2017-06-13 | 2021-03-03 | 日立Astemo株式会社 | Vehicle control device |
| CN111886170B (en) * | 2018-03-28 | 2023-09-15 | 日立安斯泰莫株式会社 | vehicle control device |
| CN111780756A (en) * | 2020-07-20 | 2020-10-16 | 北京百度网讯科技有限公司 | Vehicle dead reckoning method, device, equipment and storage medium |
-
2022
- 2022-07-04 CN CN202210781542.1A patent/CN115752426A/en active Pending
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- 2023-01-16 WO PCT/CN2023/072286 patent/WO2024007569A1/en unknown
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| WO2024007569A1 (en) | 2024-01-11 |
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