CN-122015848-A - Vehicle pose determining method and device, electronic equipment and storage medium

CN122015848ACN 122015848 ACN122015848 ACN 122015848ACN-122015848-A

Abstract

The invention discloses a vehicle pose determining method, a vehicle pose determining device, electronic equipment and a storage medium, and belongs to the technical field of vehicle navigation and positioning. The method and the device can acquire current running information of the vehicle, the current running information comprises a current position, a current course angle and a current wheel speed, the current first running speed of the vehicle is determined according to the current wheel speed, the current second running speed of the vehicle is obtained by correcting the first running speed according to the current position and the current course angle, the current course angle of the vehicle is corrected according to the second running speed of the vehicle, the target course angle of the vehicle is obtained, the pose of the vehicle is determined according to the current position and the target course angle of the vehicle, the target course angle is an ideal course obtained based on the corrected second running speed, and compared with an original odometer course, the consistency of the target course angle and the real course is higher, so that the pose of the vehicle with low drift is determined under the condition of no external positioning, and a reliable pose reference is provided.

Inventors

WU SIQIAN
ZHANG XIBIN
LI LIANG
GUO WEIZENG

Assignees

珠海格力智能装备有限公司
珠海格力数控机床有限公司

Dates

Publication Date: 20260512
Application Date: 20260121

Claims (10)

1. A vehicle pose determination method, characterized in that the method comprises: The method comprises the steps of obtaining current running information of the vehicle, wherein the current running information comprises a current position, a current course angle and a current wheel speed; Determining the current first running speed of the vehicle according to the current wheel speed; Correcting the first running speed according to the current position and the current course angle to obtain a current second running speed of the vehicle; and correcting the current course angle of the vehicle according to the second running speed of the vehicle to obtain a target course angle of the vehicle, and determining the pose of the vehicle according to the current position of the vehicle and the target course angle.
2. The vehicle pose determination method according to claim 1, characterized in that before acquiring the current running information of the vehicle, the method further comprises: acquiring historical driving information and an initial wheel radius of the vehicle, wherein the historical driving information comprises historical displacement, historical left wheel displacement and historical right wheel displacement; Determining a history prediction displacement corresponding to the history displacement according to the initial wheel radius of the vehicle; Correcting the initial wheel radius according to the historical displacement and the historical predicted displacement to obtain a corrected wheel radius of the vehicle; Determining a wheel track of the vehicle according to the historical left wheel displacement and the historical right wheel displacement; the obtaining the current running information of the vehicle includes: And determining the current wheel speed of the vehicle according to the corrected wheel radius of the vehicle and the wheel track of the vehicle.
3. The vehicle pose determination method according to claim 2, wherein the determining the current first running speed of the vehicle from the current wheel speed includes: Determining a first linear speed of the vehicle according to the current wheel speed and the corrected wheel radius; and determining a first angular velocity of the vehicle according to the current wheel speed, the corrected wheel radius and the wheel track.
4. The vehicle pose determination method according to claim 3, wherein said correcting said first travel speed according to said current position and said current heading angle to obtain a current second travel speed of said vehicle comprises: determining a current predicted position corresponding to the current position and a current predicted course angle corresponding to the current course angle according to the corrected wheel radius of the vehicle and the wheel track of the vehicle; determining a position error of the vehicle according to the current position and the current predicted position; determining an angle error of the vehicle according to the current course angle and the current predicted course angle; acquiring a linear velocity gain when the position error is larger than a preset position error, and correcting the first linear velocity of the vehicle through the linear velocity gain and the position error to obtain a second linear velocity of the vehicle; And under the condition that the angle error is larger than the preset angle error, acquiring an angular velocity gain, and correcting the first angular velocity of the vehicle through the angular velocity gain and the angle error to obtain the second angular velocity of the vehicle.
5. The method for determining the pose of the vehicle according to claim 4, wherein correcting the current heading angle of the vehicle according to the second running speed of the vehicle to obtain the target heading angle of the vehicle comprises: Determining a current running duration of the vehicle according to the second linear speed of the vehicle and the current position; and correcting the current course angle of the vehicle according to the second angular speed of the vehicle and the current running duration to obtain the target course angle of the vehicle.
6. The method according to claim 5, wherein the historical driving information further includes a historical angle offset, and the correcting the current heading angle of the vehicle according to the second angular velocity of the vehicle and the current driving duration to obtain the target heading angle of the vehicle includes: And under the condition that the angle offset is larger than a preset offset threshold, correcting the current course angle of the vehicle according to the second angular speed of the vehicle, the current running duration and the angle offset to obtain the target course angle of the vehicle.
7. The vehicle pose determination method according to claim 2, characterized in that the method further comprises: the running instruction is used for indicating the linear speed and the angular speed of the running of the vehicle; determining a proportionality coefficient of the vehicle according to the historical displacement and the historical predicted displacement of the vehicle; According to the proportionality coefficient of the vehicle, the linear speed and the angular speed indicated by the running instruction of the vehicle are adjusted to obtain the target linear speed and the target angular speed of the vehicle; and controlling the vehicle to run according to the target linear speed and the target angular speed of the vehicle.
8. A vehicle pose determination apparatus, characterized in that the apparatus comprises: The system comprises a running information acquisition module, a running information processing module and a control module, wherein the running information acquisition module is used for acquiring current running information of the vehicle, and the current running information comprises a current position, a current course angle and a current wheel speed; the running speed determining module is used for determining the current first running speed of the vehicle according to the current wheel speed of the wheel; The driving speed correction module is used for correcting the first driving speed according to the current position and the current course angle to obtain the current second driving speed of the vehicle; And the vehicle pose determining module is used for correcting the current course angle of the vehicle according to the second running speed of the vehicle to obtain the target course angle of the vehicle, and determining the pose of the vehicle according to the current position of the vehicle and the target course angle.
9. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle pose determination method according to claims 1-7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the vehicle pose determination method according to claims 1-7.

Description

Vehicle pose determining method and device, electronic equipment and storage medium Technical Field The invention belongs to the technical field of vehicle navigation and positioning, and particularly relates to a vehicle pose determining method, a vehicle pose determining device, electronic equipment and a storage medium. Background Along with the wide application of autonomous mobile devices such as intelligent mobile robots, automatic driving vehicles and the like, the real-time estimation capability of the vehicle pose (position and course angle) with high accuracy and high robustness becomes a core foundation for the reliable operation of the system. The pose information is not only used for path tracking and obstacle avoidance control, but also is a premise of upper layer functions such as synchronous positioning and map building (SLAM), multi-vehicle cooperation, task scheduling and the like. The vehicle is prone to systematic cumulative errors over long periods of operation, particularly manifesting as course angle drift-even if the vehicle executes a straight line command, it gradually deviates from a predetermined trajectory. Researches show that the course angle error of 1 degree can cause the transverse position deviation of about 1 meter to be generated every 57 meters, and the accuracy of vehicle pose calibration is seriously affected. Disclosure of Invention The embodiment of the invention aims to provide a vehicle pose determining method, a vehicle pose determining device, electronic equipment and a storage medium, which can solve the problem of low vehicle pose calibration precision. In a first aspect, an embodiment of the present invention provides a vehicle pose determining method, including: The method comprises the steps of obtaining current running information of the vehicle, wherein the current running information comprises a current position, a current course angle and a current wheel speed; Determining the current first running speed of the vehicle according to the current wheel speed; Correcting the first running speed according to the current position and the current course angle to obtain a current second running speed of the vehicle; and correcting the current course angle of the vehicle according to the second running speed of the vehicle to obtain a target course angle of the vehicle, and determining the pose of the vehicle according to the current position of the vehicle and the target course angle. Optionally, before acquiring the current running information of the vehicle, the method further includes: acquiring historical driving information and an initial wheel radius of the vehicle, wherein the historical driving information comprises historical displacement, historical left wheel displacement and historical right wheel displacement; Determining a history prediction displacement corresponding to the history displacement according to the initial wheel radius of the vehicle; Correcting the initial wheel radius according to the historical displacement and the historical predicted displacement to obtain a corrected wheel radius of the vehicle; Determining a wheel track of the vehicle according to the historical left wheel displacement and the historical right wheel displacement; the obtaining the current running information of the vehicle includes: And determining the current wheel speed of the vehicle according to the corrected wheel radius of the vehicle and the wheel track of the vehicle. Optionally, the determining the current first running speed of the vehicle according to the current wheel speed includes: Determining a first linear speed of the vehicle according to the current wheel speed and the corrected wheel radius; and determining a first angular velocity of the vehicle according to the current wheel speed, the corrected wheel radius and the wheel track. Optionally, the correcting the first running speed according to the current position and the current heading angle to obtain a current second running speed of the vehicle includes: determining a current predicted position corresponding to the current position and a current predicted course angle corresponding to the current course angle according to the corrected wheel radius of the vehicle and the wheel track of the vehicle; determining a position error of the vehicle according to the current position and the current predicted position; determining an angle error of the vehicle according to the current course angle and the current predicted course angle; acquiring a linear velocity gain when the position error is larger than a preset position error, and correcting the first linear velocity of the vehicle through the linear velocity gain and the position error to obtain a second linear velocity of the vehicle; And under the condition that the angle error is larger than the preset angle error, acquiring an angular velocity gain, and correcting the first angular velocity of the vehicle through the angular velocity ga