基于轮速脉冲的自动泊车定位精度研究

Research on the Positioning Accuracy of Automatic Parking Based on Wheel Speed Pulse

基于车辆轮胎脉冲的自动泊车定位系统,针对其轮胎半径的变化导致的车辆定位精度误差变大问题,文章提出了一种简易的轮胎脉冲长度补偿方法。该方法首先基于车辆直线行驶时的车辆四轮轮胎脉冲数计算各自的行驶距离。其次,分别基于四轮脉冲计算四轮的行驶距离及四轮平均行驶距离,并基于计算的四轮平均行驶距离对车辆的四轮脉冲长度进行补偿。最后,基于补偿后的轮胎脉冲长度计算车辆的位姿变化。实车测试表明,补偿后的轮胎脉冲长度可以提高车辆的定位精度。

The paper proposes a simple compensation method for the automatic parking positioning system based on the vehicle tire pulse.It addresses the issue of increased vehicle positioning accuracy error caused by variations in tire radius.Firstly,the method calculates the travel distance of each tire based on the tire pulse count during straight-line driving.Secondly,the traveling distances of the four wheels and the average traveling distance of the four wheels are calculated respectively based on the four-wheel pulses,and the four-wheel pulse lengths of the vehicle are compensated based on the calculated average traveling distance of the four wheels.Finally,it determines the vehicle's pose change based on the compensated tire pulse lengths.Real-world testing demonstrates that the compensated tire pulse lengths can improve the vehicle's positioning accuracy.